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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 Earle Faig

Earle Faig Along with other transportation modes, the barge industry will be greatly affected by trends in domestic coal production. Traditionally, coal has been one of the major commodities moved by barge. Now, because of events in the international energy market, coal is finally getting the recognition it deserves as a major component of the country's energy program. Perhaps even more significantly, a series of events has caused other countries to turn to the United States as a source of coal. Although the outlook for coal demand is optimistic, it will be greatly influenced by the ability of the transportation sector to handle the additional traffic. Because of its long experience in moving large quantities of coal, the barging industry is in an excellent position to capitalize on coal's increased popularity. A brief description of the barging industry should facilitate the discussion of coal as it relates to that industry. Barge companies operate on a river system that is over 40 Mm (25,000 miles) long. It includes the East and West Coasts and the Mississippi River System comprised by the Allegheny, Monongahela, Kanawha, Ohio, Illinois, Missouri, Tennessee, Cumberland, Arkansas, Warrior-Tombigbee, and Mobile Rivers, and some smaller tributaries. The Gulf Intracoastal Waterway stretching along the Gulf Coast from Brownsville, TX, to Apalachicola, FL, also is considered part of the inland waterway system. Approximately 1,800 companies operate on the inland river system and have a combined fleet of about 4,400 towboats and 28,000 barges. The fleet of towboats represents 4.8 GW (6.4 million hp) of power. The towboats comprising this fleet vary in size from a small harbor boat to a large line haul boat with 7.5 MW (10,000 hp) of power. The choice of size and power of the boat depends on a number of factors, including the size of the river and operational constraints, such as lock size, river-current rate, and water level. The choice also depends on the tow size. A single tow on a river capable of locking through 15 barges at a time handles up to almost 20 kt (22,000 st), whereas a tow on the lower Mississippi, which has no locks, can accommodate up to 41 kt (45,000 st) of cargo. Because the quality of coal is not typically damaged by exposure to the elements, it is usually moved in open hopper barges, although covered barges are used occasionally. The most frequently used size is the jumbo barge that measures 59 m (195 ft) long by 11 m (35 ft) wide by 4 m (12 ft) deep and can handle up to 1.4 kt (1,500 st) of coal. Advantages of Barge Transportation Barging offers several inherent advantages in transportation of bulk commodities like coal. First, barges can carry large quantities of product. A single jumbo hopper barge can handle 1.4 kt (1,500 st) of cargo while it takes 15 91-t (100-st) capacity rail cars or 57 trucks hauling 24 t (26 st) each to move an equivalent amount of cargo. Thus, barges can move more tonnage with less equipment than competing forms of transportation. Second, barging offers the most fuel efficient means of transportation. Less energy is required to push a load over water than to pull a similar load over land. The amount of pollution attributable to barge traffic is minimal because barges consume less fuel. Third, barging is an inexpensive form of transportation. The inland waterway industry transports about 12% of the nation's freight for about 2% of the total freight bill. This can be attributed to competition between the large number of companies on the river system and competition with other transportation modes. Fourth, barging is an environmentally safe method of transportation. Inland river routes expose fewer urban areas to hazardous substances than rail or truck. And barge spills occur less frequently than rail or truck spills. The industry does pose some disadvantages. The waterway system is constrained by the natural river network, so barges cannot travel on the most direct straight-line route. This means that barging is usually an incomplete form of transportation requiring interface with truck or rail. The industry's market is limited to those geographical areas that are located on or near the rivers. In addition, it is a time-consuming transportation mode, making it impractical for many types of commodities.

Jan 10, 1982

By Y. Zhang, M. Yekich, C. Zhou, C. Jobes, J. Galanko, D. Tuchman, J. Srednicki, J. Carr

The continuous personal dust monitor (CPDM) is an essential instrument for working in hazardous environments, is used to monitor real-time coal dust exposure, and is mandated by the Mine Safety and Health Administration (MSHA) for underground coal mines. Researchers from the National Institute for Occupational Safety and Health (NIOSH) found that it is possible for electromagnetic interference (EMI) between a CPDM and a proximity detection system (PDS) to occur. Various approaches have been taken by researchers and manufacturers to address this EMI issue. Administrative controls were recommended to keep the CPDM six inches away from the wearable PDS device. Shielding pouches were made to contain the electromagnetic (EM) emission from the CPDM. Metal shielding was added to major EM emitting components. EMI filtering with large capacitors was introduced to mitigate EMI. Most recently, a novel magnetic-field-cancellation-based approach was developed and achieved remarkable results. In this paper, we provide a comparison between these approaches. The pros and cons of each approach are presented and discussed, so that mining device manufacturers and operators can best evaluate the technology and controls that improve the health and safety of mine workers.

Feb 1, 2023

By A. A. Schweizer

Buckhorn ore is hydrous, argillized basaltic andesite, and is at least 60% clay composed of kaolinite and subordinate montmorillonite. Moisture content runs from 10% to 25%. The original crushing plant was a typical compression type, employing a jaw crusher, and two cone crushers. The system was plagued with constant plugging and unable to meet production plans. The three compression crushers were replaced with a Stamler Feeder Breaker followed by a Hazemag Impactor. Production plans are now exceeded. Agglomeration has progressed from an agglomeration drum to cascading conveyors, to introduction of the lime and cement into the primary crusher.

Jan 1, 1987

By D. F. Malott

The Michigan Department of State Highways makes extensive use of geophysics for subsurface surveying which would be applicable for uses in other fields. Examples of resistivity surveys are given which include a proposed large volume excavation with suggestions for land use after excavation, subsurface evaluation for engineering design, and a subsurface survey for land appraisal. An example of a combined refraction seismic and resistivity survey is shown where the resistivity is used for outlining the unconsolidated soils, while the seismic method Is used to outline bedrock and to evaluate it for rippability. A refraction seismic survey at the bottom of bridge caissons for evaluation of bedrock uniformity and a relative aid In assessing rock strength is reported.

Jan 1, 1968

By L. L. Chasko, D. W. Alexander

Los investigadores del National Institute for Occupational Safety and Health’s Office of Mine Safety and Health Research han evaluado los efectos que la malla de control de suelos podría tener en la distribución de polvo flotante de roca y carbón en minas de carbón. El creciente uso de mallas para controlar el desconchado o caída de material del techo y las vigas introduce superficies elevadas adicionales para recolectar el polvo de roca o de carbón. Es posible que el potencial para la propagación de explosión del polvo se incremente si el polvo flotante de carbón no es convertido en inerte de manera adecuada. Adicionalmente, la malla podría interferir con la recolección de muestras representativas de polvo cuando se usa el método de recipiente y brocha desarrollado por la U.S. Bureau of Mines y usada por la Mine Safety and Health Administration para muestreo de banda. Este estudia hace una estimación del polvo de roca o carbón adicional que pudiera acumularse en la malla y desarrolla un método para recolectar muestras de polvo representativas atrapado en las mallas.

Jan 1, 2014

By L. L. Chasko, D. W. Alexander

Researchers from the National Institute for Occupational Safety and Health’s Office of Mine Safety and Health Research conducted an assessment of the effects that ground control mesh might have on rock and float coal dust distribution in a coal mine. The increased use of mesh to control roof and rib spall introduces additional elevated surfaces on which rock or coal dust can collect. It is possible to increase the potential for dust explosion propagation if any float coal dust is not adequately inerted. In addition, the mesh may interfere with the collection of representative dust samples when using the pan-and-brush sampling method developed by the U.S. Bureau of Mines and used by the Mine Safety and Health Administration for band sampling. This study estimates the additional coal or rock dust that could accumulate on mesh and develops a means to collect representative dust samples from meshed entries.

Jan 1, 2014

By N. W. Johnson

Two analysis tools which have been applied to problems in industrial Flotation processses are the application of kinetics and detailed mineralogical or liberation data, both on a size-by-size basis. The paper describes practical examples of the application of kinetics to examination of the entrainment recovery mechanism, the retardation of valuable minerals at the commencement of flotation sections and the resolution of problems related to valuable species with reduced rate constants at the end of sections. Examples of the usefulness of size-by-size liberation data for monthly composite samples of products from a concentrator are also described.

Jan 1, 1985

By P. G. Corser

A gold and silver open-pit mine located in northwestern Chile contracted ACZ in 1991-92 to assess the stability of their spent ore pile and to determine the cause and magnitude of cyanide contamination associated with leaching operations. The mine is a conventional open-pit located at an elevation of approximately 4,800 meters (m.) (15,744 feet). A spent ore pile is located approximately 2,000 m. southwest of the mine and approximately 1,000 m. northeast of the active pad and plant facilities. The pile was constructed on a gentle northwest slope dipping 12 to 13 degrees. The pile is bordered by a small river to the northwest and by a larger river to the northeast. Both rivers eventually flow into Bolivia. Heap leaching and processing commenced at the mine in 1988. Since 1988, nearly 6.0 million tons of ore at an average grade of 1.96 grams/ton (0.07 ounces/ton) of gold and 52 grams/ton (1.83 ounces/ton) of silver have been treated by cyanide heap leach methods with zinc (Merrill Crowe) precipitation. In approximately three years of operation, the mine has yielded more than 225,000 ounces of gold and over 1.5 million ounces of silver. Currently ore is agglomerated and hauled to the leach pad by truck and is top loaded to produce a 5-meter lift height. Four contiguous reusable (on/off) leaching pads were constructed with an asphalt layer above a carefully compacted sub-base of High Density Polyethylene (HDPE) liner and screened fines. Leach solution of pH 10-11 containing 1.2 to 1.5 gram/liter of cyanide is applied to the heap at a rate of 10 liter/hour/square meter for a total active application period of 30 days. Leached (spent) ore is transferred to the spent ore pile located approximately 1,000 meters to the northeast. The pile currently contains approximately 6 million tons of spent ore. The pile liner, which has been constructed over a prepared sub-grade consists of three geosynthetic layers (geotextile/flexible membrane liner/geotextile). Long term objectives include washing the pile to recover an additional 3 to 4 percent gold and silver.

Jan 1, 1993

By Patrizia Pereyra, M. Guzman, C. Toledo, J. A. Rau, A. Ruiz

The use of mining tailings-based geopolymer binder as a substitute for cement can be an interesting alternative to the problem of final disposing of large volumes of them. Indeed, mining tailings have a high silica content, which makes them suitable for geopolymerization. The tailings samples contain Cu, Pb, Zn, As, Sb, Cd and Bi, mainly. X-ray diffraction results show that the tailings are composed of quartz, SiO2 (81%). Geopolymerized tailing samples (GTPS) were obtained by varying the ratio of SiO2/ Al2O3 and SiO2/NaOH. The compressive strength of the GTPS varied between 2 MPa and 8 MPa. The electrical conductivity in the leaching tests varies between 13.91– 16.11 mS/cm2 indicating that ions are present in the solution. However, the pH = 10.5 indicates that acidity is not being generated. The element that mostly leaches is iron. The highest percentage of leaching is observed for cadmium (69%) and chromium (93%). The concentrations of elements are under the maximum permissible limits for water according to the Peruvian legislation. However, mass transfer leach tests and immersion leach tests must be realized.

Feb 1, 2024

By S. K. Ghosh

This paper discusses how the information on ash composition, ash-fusion temperatures, and ash-slag viscosity can be utilized to predict slagging and fouling potentials of a particular coal. A review of several empirical parameters which are commonly in use for determining such potentials is given. Also, some guideline values for interpreting the relative propensity of slagging and fouling of various types of coal are provided.

Jan 1, 1983

By Siddhartha Roy, Hemant Agrawal, Ram Madhab Bhattacharjee, Devi Prasad Mishra

Heat stress in underground coal mines is a major threat to the health and safety of the miners. Hence, managing heat and prediction of heat stress in advance is essential for maintaining a safe, healthy, and productive underground mine environment. In this study, an extensive ventilation survey has been carried out in three different deep and mechanized underground coal mines. The ventilation survey data are used to develop 3D simulation models with the VentSim™ software to predict the conditions that could cause heat stress in underground mine workings. The developed 3D models predicted well the wet-bulb globe temperature (WBGT), a recognized indicator of potential heat stress, with a coefficient of determination (R2) of 0.986, 0.994, and 0.993 for Mine-A, Mine-B, and Mine-C, respectively. Moreover, through 3D modelling, the applications of auxiliary ventilation and spot coolers to reduce the wet-bulb globe temperature (WBGT) for improving the underground workplace environment have been explored. The study demonstrated that auxiliary ventilation and spot coolers can help in significant reduction of heat stress conditions in an underground mine environment. By application of auxiliary ventilation, to increase air volumes, and spot coolers, the WBGT index in mining faces is reduced by 1.2–1.4 °C and 3.9–5.4 °C, respectively. Therefore, it is concluded that the spot coolers are more effective in reducing the heat stress conditions in hot and humid underground mine environments in comparison with auxiliary fan that is used to increase the air volume and velocity. This study opens up a new horizon of 3D simulations for heat stress management in underground mines. The outcome of this study will be useful for the researchers, mine operators, and environmentalists understanding the heat stress contributors and their control in underground mine environment.

May 10, 2023

By R. Sellaro, E. Sarver

It has long been understood that extended occupational exposures to respirable mine dusts can lead to chronic lung disease. In underground coal mines, coal workers pneumoconiosis (CWP) and silicosis are major concerns. While many efforts have been made with the aim of understanding the mass-based concentrations and silica contents of respirable dusts under a variety of mining conditions, little research has been completed in characterizing dust at the individual particle level (by composition, size and shape). This study employed scanning electron microscopy with energy dispersive x-ray (SEM-EDX) to analyze dust samples collected from an underground coal mine in Central Appalachia. The results indicated that particle characteristics can vary widely between locations, though many trends might be explained based on knowledge of mining conditions. A continuous personal dust monitor (CPDM) was also used during the collection of some samples to determine respirable dust concentrations, which were compared against estimated concentrations based on the particle-level analysis.

Jan 1, 2014

By Samuel S. Adams

The Permian Salado Formation of west Texas and southeastern New Mexico is composed of halite and subordinate amounts of anhydrite, clay and potassium and magnesium-bearing evaporite minerals. Aspects of the geochemistry of the Salado Formation have been investigated through studies of the stratigraphy, mineral assemblages, textures and minor element content of the salts. These studies provide information on the origin of the evaporites when combined with data on equilibria in saturated salt solutions. The principal potash ore zone in the district is composed essentially of halite (NaC1) and sylvite (KC1). Data on the color, bromide content, and proportions of halite and sylvite suggest that this simple assemblage is the product of a series of replacements rather than primary precipitation. The bromide content of the salts also indicates that the brine which precipitated the Salado Formation was derived from the dissolution of older evaporites rather than the simple evaporation of sea water.

Jan 1, 1966

By Jacob Carr, Bruce Whisner, Adam Smith, Jingcheng Li

Electromagnetic-based proximity detection systems (PDSs) are utilized on mining machinery to protect workers from being pinned or struck. These systems generate magnetic fields covering the space around a machine, and a miner-wearable component (MWC) detects the field. The PDS determines the distance of miners relative to the machine based on the detected magnetic flux density in the magnetic field. This information is used to establish warning and shutdown zones around the machine. Maintaining a stable magnetic field is essential for system accuracy. However, components used to generate magnetic fields can be influenced by temperature changes. Depending on ventilation conditions and seasonal alternation, a PDS can be subject to significant temperature fluctuation. To better understand and quantify this phenomenon, researchers from the National Institute for Occupational Safety and Health (NIOSH) developed an experimental apparatus to study the influence of temperature on magnetic field generator circuits used in PDSs. Results from the study show that the electric current through a generator can be influenced by both ambient and internal temperatures, modifying the magnetic field that is produced. These findings show that temperature can significantly influence the ability of PDSs, used in underground coal mines, to accurately determine a worker’s position in relation to mining machine.

By Peter Kreisman

This paper and four other papers on the MEQB Regional Copper-Nickel Study, presented today at the 1980 SME-AIME Fall Meeting are based on four years of extensive inter-disciplinary research and impact analysis supported largely by the Legislative Commission on Minnesota Resources. This study produced over 180 technical reports, the results of which are summarized in an Executive Summary available from the Minnesota State Planning Agency, St. Paul, Minnesota. Those wishing to examine the many scientific, engineering, environmental, social or economic issues addressed by the study are encouraged to obtain a copy of the executive summary. The executive summary includes a bibliography of all technical reports produced by the Regional Copper-Nickel Study and describes the five-volume, 26 chapter Regional Copper-Nickel Study Report.

Jan 1, 1980

By Michael J. Miller

In the design of a modem mill, a stockpile storage system for raw and/or semi-processed ore has become almost indispensable. This paper discusses the benefits of such stockpile storage as well as the various types of belt conveyor stockpiling units available. Particular attention is given to large radial stackers since they offer the greatest flexibility. Stacker control systems and accessory equipment are briefly discussed. Various alternative reclaiming arrangements for stockpiles are reviewed and a discussion of the advantages and drawbacks of each arrangement is included.

Jan 1, 1979

By A. G. Journel

Accurate prediction of recoverable reserves are key to the development and planning of a mining operation. Recovery functions for tonnage, quantity of metal and ore grade are defined and two approaches for their estimation are proposed. The indicator kriging (IK) approach draws on the data rank orders, whereas the multi-gaussian (MG) approach relies on a grade multi-variate distribution hypothesis. Although based on different premises, both approaches yield remarkably similar--and accurate--estimates for recoverable reserves.

Jan 1, 1984

By Sara Swiokla Korsikas, Toren Olson, Amado Guzman, Yuri O. Zepeda P

Ore agglomeration has been used as part of the heap leaching process for the last 40 years. However, industrial experience shows that the lack of a universal agglomeration standard has limited the benefits of this, otherwise, valuable unit process. The more complex the ore, in terms of the nature and relative abundance of fines (<74 μm), the more important that the agglomeration product satisfies some minimal requirements. This paper presents an agglomeration scale that identifies the quality standards for agglomerates and documents the resulting mechanical, physical, and hydraulic (hydrodynamic) behavior associated with each level on the agglomeration scale. The hydrodynamic properties of an agglomeration product are critical for the proper design of a leaching operation and, as shown in this paper, can be used to select the optimal pretreatment method for a given ore sample. Agglomeration as a unit process not only allows better conditioning of the hydrodynamic behavior of the ore but also creates an opportunity for optimized delivery of reagents to kick-start the leaching process which may ultimately improve the economic performance of leaching. Industrial case data is used to demonstrate the shortfalls associated with low-quality agglomeration and the benefits of improved agglomeration which range from enhanced porous structure (better percolation and drainage characteristics) to better metallurgical response (faster kinetics and higher metal recovery). Proper agglomeration has been used to render otherwise untreatable ores into valuable leaching resources.

Feb 9, 2024

By Raúl Castro, Marco Vera, Alfonso Ovalle

The underground mining evolution for block cave mines in Chile and worldwide has made important strides in the last decades. Nonetheless, reserves determination in the initial stages of these types of projects—mainly for long-term planning—is not studied in as much detail as it should be, especially regarding the impact on the final value of the enterprise. Today, the first estimation of the size of a block cave mine, typically expressed in tons, tends to determine very large footprints and ore bodies. The resulting large-scale mine is obtained by applying the marginal cut-off grade (COG) to determine reserves. Yet, in many cases, it is possible to obtain an equal or higher benefit, extracting fewer reserves in less time, with a smaller active area, which significantly reduces the project’s uncertainty. To explore scenarios obtained by applying a higher marginal COG in the initial phases of the project, the Hill of Value methodology is used to estimate the net present value (NPV) in relation to the production rate and the COG. However, the application of this methodology considers certain simplifications that generate results which are not completely satisfactory in specific cases. This paper suggests an improvement of this method to obtain more reliable results regarding determination of a COG profile that will optimize the NPVof a block-cave project. The methodology was developed and applied in a massive polymetallic deposit with zinc, lead, and silver mineralization, corresponding to a real block caving project. The methodology provides NPV results that differ by approximately 15% in comparison to the real mine plan, while also being considerably simpler and faster to calculate. In summary, the proposed methodology provides a reasonable and fast procedure to estimate higher than marginal COG that increases the NPV of block cave mine projects.