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By Dongxu Jia, Chen Cao, Shuangwen Ma, Jun Han, Huibin Ma

Coal bump, or coal burst, is one of the catastrophic disasters in underground coalmine. Among them, approximate 80% of recorded destructive burst events were occurred in mining roadway. The bump panel is often formed by hard coal seam and hard main roof; however, the cause and course of the bump events are not understood yet. This study provides a fundamental theory for the causality and progress of a coal bump event occurred in longwall roadway. Considering hard roof condition commonly existed in bump panels, we think that the abutment pressure induced by suspended roof behind the working face is the trigger of a coal bump event occurred in the roadway. Once high abutment pressure is concentrated on the hard coal seam around the working face, the roof and the coal around the working face form a seesaw-like structure, which leads the roof in front of the working face moving upwards. The movement of roof uplifting in front of the working face is a well evidenced phenomenon in practice, namely, roof rebounding, which causes unloading of the normal stress on the roof-coal interface around the roadway. A rib coal block bump mechanical model has been developed to establish the critical equilibrium equation of the coal block. Result shows that, the force source of coal bump is the horizontal ground stress perpendicular to the rib surface; and the slippage of the coal block is caused by the unloading of the normal stress acting on the roof-coal interface. Based on the causality and consequence theory of coal bump developed in the paper, several new prediction and prevention measures have been developed, including roadway design and in-tunnel reinforcing methods. The commonly used prevention measures in present have also been discussed. This paper presents a comprehensive explanation of coal bumps occurred in longwall roadways, from abutment pressure at working face forming seesaw structure to roof rebounding leading slippage of the rib coal mass into roadway, which provides a fundamental theory for coal bump causality mechanism and prediction and prevention technology.

Apr 26, 2022

By Dongjie Zhang, Fengyu Ren, Xudong Li, Yanjun Zhou, Yang Liu, Rongxing He, Jianli Cao

Based on the limiting-equilibrium analysis of roof processive caving in hanging wall caving method and the critical medium column theory, a new model of subsidence prediction caused by sublevel caving mining method was proposed in this study, considering the drawing influence and the dynamic process of filling granular media. Meanwhile, the distribution rules for lateral pressure with different orebody dip were studied under drawing ore, and subsequently complemented the model. This model indicated that the surface subsidence scope decreased as the unit weight of crack rock and the orebody dip increased. In addition, the height of critical medium column showed a decreasing trend as cohesion of rock mass, the internal friction angle and the unit weight of rock mass. Also, the method of predicting the scope of surface subsidence in the Dabeishan Iron Mine was applied. The results showed that the relative errors are less than 9% and the prediction method could be used in practical application.

Feb 24, 2022

By H. A. Oliveira, A. Azevedo

Physical and chemical characterization and solid/liquid separation of turbid waters from a river affected by an iron tailing rupture disaster (Gualaxo do Norte River, Brazil) were studied at bench scale. Parameters such as turbidity, pH, surface tension, electrical conductivity, total suspended solids (TSS), particle size distribution (micro- and nanoparticles), and zeta potential were analyzed from samples collected at three different river depths. The results in all samples showed the presence of micro- and nanoparticles, ranging in diameters from 100 nm to 200 μm. Best results for flocculation and settling were obtained at pH 7.5, through an innovative combination of eco-friendly reagents: (i) ferric hydroxide precipitates (10 mg L−1 Fe3+) to sweep (enmesh) the dispersed solids and (ii) gelatinized starch (5 mg L−1 ) to form large flocs. The results showed removals between 90 and 100% of total suspended solids (micro- and nanoparticles), resulting in clear water with residual turbidity < 7 NTU. It is believed that this innovative alternative has a high potential for flocculating and treating the turbid water at Gualaxo do Norte River, assisting the water treatment stations.

By Robert E. Mead

During the past three years the New York Trap Rock Corporation has been restricting blasting operations to days when favorable atmospheric conditions prevailed. By favorable atmospheric conditions is meant the absence of temperature inversions or isothermals in the lower atmosphere or under 6,000 feet altitude. Strong wind and wind shear can also cause conditions unfavorable for blasting. As a result of this practice, there has been a marked decrease in the number of blasting complaints received. The New York Trap Rock Corporation operates four stone quarries on or near the Hudson River within 60 miles of New York City. The Company supplies approximately 7,080,000 tons of high grade, crushed and graded aggregate, rip rap and by-products to the New Pork City area annually, This stone is carried to the market by a fleet of company owned deck &cows which are moved by tugs of a subsidiary towing company. Stone from two of the quarries is diabase: and, from the remaining two, dolomite.

Jan 1, 1962

By D. W. Alexander

Researchers from the Office of Mine Safety and Health Research (OMSHR) of the National Institute for Occupational Safety and Health (NIOSH) completed field trials during coal mine rescue contests using simulated gas detectors in place of placards. The gas monitor simulator (GMS) devices replaced static, paper placards to deliver gas concentration data. Eleven teams were observed during the field contest, which was approved by the Mine Safety and Health Administration (MSHA). GMS devices were given to three team members, the captain, and both gasmen. Observation of teams revealed that team members changed behavior by acknowledging and sharing information more often while using the GMS. As a result of this research, it has been demonstrated that under the existing contest format, the newly developed GMS device may be used with no adverse impact on team contest performance. Furthermore, when GMS technology advantages are used, contest realism is improved. In the future, competency assessment may be incorporated.

Jan 1, 2011

By S. E. Phillipson, S. Romberger

The Late Miocene San Cristobal Ag-Zn-Pb deposit represents syngenetic and epigenetic mineralization with low- and high-sulfidation characteristics. The geology of the deposit is characterized by barren dacitic ring fracture domes, mineralized resurgent rhyodacite domes, strongly altered and mineralized tuffaceous lacustrine sedimentary rocks and an extensive crystal-lithic tuff debris apron. The orebody is hosted by intracauldron sedimentary rocks and breccias. Fluid inclusion data suggest that silver, lead and zinc were transported as chloride complexes and precipitated by cooling in veins from <5% (by weight) NaCl eq. fluids at 170° to 215°C. Silver spatially and perhaps temporally associated with resurgent rhyodacite was transported as a chloride complex and precipitated by increased H2S activity or increased fluid pH.

Jan 1, 2002

By Charles E. Michener

This paper deals with the occurrence of basic and ultrabasic rocks and their relationship in space and time to major structures of the earth. In order to introduce the paper properly, I must go back a little and try to put the subject in perspective. In the brief time that geology has been a scientific occupation, ore deposits have been grouped and classified in various ways depending on the theories that happened to be popular at the time. Some of the early scientists said that ore came from fire, other schools argued that ore originated from water. Then came the lateral secretionists and in later years the hydrothermalists led by the Lindgren school and the latter has largely been accepted as the modern concept of ore deposits. It now seems apparent that the hydrothermal school is being seriously challenged by other schools of thought. It also seems that we have reached the point where we should be willing to admit that we do not really know in most cases how the ore got to its present position. However, for practical purposes, we can classify ore deposits as to the environment in which they do occur. This is not difficult and gives the field geologist and the mining engineer something to work with and to believe in, and it gives them a basis for carrying out their field work. On the screen, Figure 1, there is a classification of ore deposits based on the environment. Under each classification is listed the more prominent metals which are characteristic of that

Jan 1, 1971

By R. Vergunst, E. A. Devuyst, G. Robbins

By the middle of 1989 Inco will have applied its patented cyanide removal technology to seventeen commercial operations. Removal of cyanide from CIL slurry tailings is applied at Equity Silver and Inco&apos;s new 1.200 mtpd mill at Inco/Golden Knight. Detoxification of CIP tailings is carried out by Colosseum California (3.600 mtpd), Canamax&apos;s Ketza River (360 mtpd) and Westmin&apos;s Silbak Premier (2000 tpd) operations. Repulped tailings from Merrill-Crowe flowsheets are treated at Total Erikson&apos;s Mount Skukum (300 mtpd) and Skyline&apos;s Johnny Mountain (200 mtpd) mills and barren bleed at Inco/Queenston&apos;s McBean mill (500 mtpd). Lynngold&apos;s MacLellan mill (1800 mtpd) and ERG (40.000 mtpd) treat pond supernatant water. Plating shop cyanide effluents are decyanized at Kuntz Electroplating and two other plating shops in Ontario. Details regarding some of the above operations are given. Operating and capital cost estimates for various treatment options are discussed.

Jan 1, 1989

By Neal Rackstraw, Mamo Meaza

Washington Metropolitan Transit Authority Section E8a consists principally of twin tunnels 1,713 meters (5,620 ft) long, excavated to a diameter of 6.35 meters (20.83 ft) using an open face shield, with a primary lining of four unbolted precast concrete segments expanded at the crown, and a full circle unreinforced concrete final lining with a finished tunnel diameter of 5.08 meters (16.67 ft). The tunnels, constructed in Cretaceous age sediments, are mostly in stiff to hard clay except for a few areas along the alignment that contain dense to very dense fine sand in the upper portion of the tunnel that created a mixed face condition. At two locations unexpected heavy water inflows produced very serious problems in both tunnels. Water flows in the interface area were generally more than 378.5 1pm (100 gpm) and reached as high as 2,649.5 1pm (700 gpm) in the mixed face ground. The nature of the tunnel inflows, the consequences, and the corrective measures adopted will be the subject of this paper.

Jan 1, 1991

By Terrence R. Lejcher

Strip mining has played a key role in the production of coal used to produce energy in this country. About 56 percent of the 1.3 x 106 hectares (3.2 x 106 acres) that had been disturbed by surface mining as of 1965 can be attributed to stripping (Udall, 1967). The runoff from these stripped areas is usually heavily polluted with high concentrations of total dissolved solids, iron, aluminum, manganese, sulfates, and has low pH values with high acidity. Another problem of a most serious nature in our large cities is the volume of treated solids to be disposed of after sewage treatment. Chicago is presently producing about 664 metric tons/day of dry weight solids (Horn and Earles, 1968). Disposal methods most commonly used include lagooning, incineration, and landfilling. The high cost of land in an urban community is prohibitive of lagoon storage. Incineration and landfill disposal create air and water pollution problems. Many countries including Australia, England and Israel have long realized the value of sewage solids if they are recycled back to the land. In the United States, the value of such solids in reclaiming strip mined land has been recognized by relatively few people. This paper is concerned with the use of anaerobically digested sludge to reclaim strip mined land.

Jan 1, 1972

By H. J. Hutson

BRS, Inc. has utilized Carlson&apos;s Natural RegradeTM software to design the reclamation and stabilization of abandoned open pit uranium mine spoils, AML Project 16N, located in the Gas Hills Uranium District in central Wyoming. This work was completed for the State of Wyoming&apos;s Abandoned Mine Land Program (AML) on preSMCRA (Surface Mining Reclamation and Control Act) sites for which no reclamation obligation existed. The project successfully stabilized an eroding spoil dump, enhanced the local view shed, created habitat diversity and provided a significant source of fill material for open pit highwall hazard mitigation efforts. Additionally, the project served to evaluate innovative reclamation design methods, engineering software and grade control technology. This project was nominated for a National Association of Abandoned Mine Land Programs award by the State of Wyoming. The results of this project will be presented as a case history of the Natural RegradeTM approach to surface mine reclamation. Based on the successful application of this new mine reclamation technology on the AML 16N Project, reclamation designs for spoils associated with planned underground uranium mine operations at the Velvet Mine in the Lisbon Valley Uranium District of Utah for Uranium One USA, Inc have been prepared and will be presented. Critical elements will be the encapsulation of unsuitable materials, long term hydrologic stability, and sequencing and staging of ore and mine waste for final reclamation surface construction. The goal of the Uranium One Velvet Project will be to apply best available technology to reclamation planning and fully integrate the reclamation design with the mine planning. Benefits of the approach should include improved public and regulatory perception of the project, facilitate mine permit approvals and the eventual timely release of reclamation bonds, as it is anticipated the stable landform created through this process will result in more rapid stabilization of the site to pre-mine geomorphic conditions. NATURAL REGRADETM CASE STUDY AML Project 16N, D-9 and K Pit Reclamation Project, is located in an intensely disturbed area of the West Gas Hills Uranium Mining District in Fremont County, Wyoming. The overall design calls for the placement of approximately 7 million cubic yards of backfill materials in the D9 and K Pits, imported from adjacent mine spoils including the Central Spoils, and from local highwall excavation. Figure 1 shows the location of the Central Spoils excavation area, as well as the D9 and K Pits fill area. The entire project is located on public lands administered by the Bureau of Land Management, Lander, Wyoming District Office. No access controls are in place at the abandoned mine sites. The public lands are administered under a multiple use land policy including grazing of range land, public recreation, active mining and exploration, and oil and gas. The project site is located along Fremont County Road No. 5, which is a moderately well traveled road. Reclamation of the numerous and large abandoned open pits in the Gas Hills Uranium District has reduced the risk of death or injury to the public. Site History and Background The Gas Hills Uranium District was mined by multiple companies during the period from 1955 to 1981. The uranium was hosted in the Wind River formation, a sequence of soft sedimentary layers of interbedded sandstone, clayey shales, and conglomerates. Uranium was precipitated out of ground water in classic roll front deposits, which are found from very near surface to depths greater than 400 feet. Prior to the enactment of the Surface Mining Control and Reclamation Act of 1977 (SMCRA), very little reclamation work was performed when mines were abandoned or closed. The State of Wyoming Abandoned Mine Lands Program has worked to mitigate hazards associated with large open pits, control migration of unsuitable materials and restore watershed functionality of lands in the district. Additional reclamation is being performed by mining companies on bonded lands. Figure 2, Gas Hills Uranium District aerial photograph, shows the extent of the mining disturbance in the district. [ ] Project Hazards and Concerns The purpose of AML Project 16N is to mitigate hazardous conditions and risk to the public associated with open pit highwalls and toxic, acid forming, and /or radioactive mine waste materials. The D9 and K Pits are contiguous open pits characterized by an 8,800 foot long hazardous highwall that averages over 200 feet tall. In addition to the physical hazard presented by the highwall, the project addresses

Jan 1, 2009

By Guodong Li, Chenlin Wang, Zibiao Yu, Bo Xu

Abandoned coal mines have many underground space resources, such as roadways, shafts, and gobs. Among them, abandoned roadways are the best gas storage space for underground compressed air energy storage (CAES). However, CAES caverns have high air pressure and strict sealing requirements. Therefore, the stability and sealing of abandoned roadways under high internal pressure must be analyzed. Afterward, the suitability of abandoned roadways used for CAES caverns should be evaluated. In this study, the numerical simulation software FLAC3D was used to calculate the stress, deformation, plastic zone volume, and pore pressure of surrounding rock in an abandoned roadway under 10 MPa internal pressure. The influence of buried depth, surrounding rock grade, and in situ stress state on roadway stability and the effect of surrounding rock permeability on roadway sealing were analyzed. Results showed that the stress, displacement, and plastic zone volume of surrounding rock were affected by high internal pressure when the buried depth was less than 300 m, but high internal pressure had little effect on them when the buried depth was more than 300 m. The suitable range of buried depth was more than 300 m. The optimal choice of surrounding rock grade was I and II, followed by grades III, IV, and V. The optimal choice of in situ stress state was σH > σh > σv, followed by σH > σv > σh and σv > σH > σh. The sensitivity of the stability evaluation parameters was ranked in descending order as follows: buried depth, surrounding rock grade, and in situ stress state. When the surrounding rock permeability was less than 1 × 10− 14m2, the 24-h air leakage rate of the roadway was less than 1%. The suitable range of surrounding rock permeability was less than 1 × 10− 14m2.

May 23, 2023

By H. Colijn

Feeders are used to provide a means of control for the withdrawal of bulk materials from storage units, such as bins, bunkers, silos and hoppers. This control function can only be performed properly as long as the bulk materials flow by gravity to the feeder in a uniform and uninterrupted fashion. A feeder can do many things, but it should never be considered a suction pump: During the past few years various papers have been written and presented on feeders and their application. 1,2,3,4,5,6,7,8,9)* It is not the intent of this paper to cover the same ground, and the readers are therefore ad¬vised to consult the referenced publications for supplementary information. This paper will be confined to some specific design criteria of bin feeders, such as feeder load and power requirements. Special attention is given to the basic design criteria of vibratory feeders.

Jan 1, 1968

By S. Rupprecht

"INTRODUCTION This paper addresses the prevalence of poor public reporting practices of Coal Exploration Results, Coal Resources and Coal Reserves in southern Africa. Currently, the reporting of coal tonnage without supporting coal qualities or “saleable” tonnes and quality is a poor reporting practice that occurs far too often. Not all coal is equal – therefore it is extremely important that investors or potential investors are provided with the full details of both run-of-mine (“ROM”) and Saleable coal tonnage, their associated qualities and other material and relevant information. Competent or Qualified Persons should note that publicly reported information should be sufficient to enable an informed reader to make a reasonable and balanced assessment of the significance of the information provide. “Companies are encouraged to provide information in their Public Reports, which is as comprehensive as possible” (CRIRSCO, 2013): too often this isn’t the case and material matters are either not reported or inadequately disclosed. According to the South African National Standard (SANS) 10320:2014 draft document - “tonnage and coal quality that will be available for sale, either in the raw ROM state (raw Saleable) at a specified moisture content, or after beneficiation of the ROM coal by processing operations to produce materials at specified qualities, size ranges and moisture contents. The assessments must demonstrate that at the time of reporting, the marketing of the products is reasonably justified. The basis of the predicted practical product yield to achieve the Saleable Coal Reserve must be stated. The moisture basis of reporting shall be stated.” As an example to why coal qualities are so important to the public, the requirements of South Africa’s electric public utility (Eskom) power stations are highlighted. The Kendal power station, commissioned in 1988, operates at a Calorific Value (“CV”) range of 19 to 20MJ/kg, an Ash content between 29 and 34% and Volatiles between 20 to 21%. Other power stations, such as Kriel or Hendrina, may require different qualities such as a CV range of 22 to 23MJ/kg, an Ash content between 20 and 28% and Volatiles between 22 to 23%. Thus, in terms of domestic saleable coal, it isn’t just about reporting the coal qualities but also informing the investor as to which power station the coal is intended to be sold as “boilers are designed to burn particular qualities of coal” and “it is not always possible to transfer coal between stations because of different quality requirements at each station” (Chetty, 2010). Sulphur content is also another important quality with the ideal coal content having a quality of less than 1% Sulphur."

Jan 1, 2018

By R. D. Doepker

The dissolution of metals from various metal-mine tailings has been studied through a series of submerged tailings batch tests at U.S. Bureau of Mines laboratories. Tailings selected for this study included both reactive (as determined by column leaching studies) and benign tailings. Metal mobilization in aerated (97 pct saturated with oxygen) samples appeared to be consistently greater than metal dissolution from stagnant (79 pct or 70 pct saturated with oxygen) waters. In the early weeks of the study, sulfate concentrations increased with solid-liquid contact time, while calcium dissolution remained nearly constant. Metal concentrations varied in relation to solid-liquid contact time and aeration. Leachate pH appeared to be nearly independent of solid-liquid contact time for basic tailings. Reactive tailings having both a submerged and a surface component demonstrated increased metal mobility.

Jan 1, 1990

By Dale E. Hirschfeld

The clays in Eastern Washington occur in a variety of forms and are extracted for uses in Face Brick, paper coatings, and aggregates. Not in large volumes in comparison to other areas, not even from impressive large mines. However, mans utilization of these clays has progressed from historical clay tablets to the present technically oriented manufactured products of today. White Face Brick, perhaps the whitest produced anywhere is the unique product produced by INTERPACE CORPORATION&apos;s Mica Plant from these unusual clays. It is this basic characteristic feature of the clay&apos;s in the Mica area that differentiate them from the other clay&apos;s in this belt. ORIGIN The significant properties of clay&apos;s used in Face Brick are plasticity, fired color, fired strength, dry and fired shrinkage, the PCE or Pyrometeric Cone Equivalent, and extrudability. Testing clay&apos;s for these properties is standard laboratory procedure. No two clays are alike, and seldom can one clay be substituted for another. Mica White Clays respond favorable to all these properties, but more especially, the Mica Clays fire to a brilliant white color, from almost the natural state. The geologic history of Eastern Washington is largely conjectural because of the absence of rocks representing segments of geologic time. The oldest rocks in this area are the argillaceous and arenaceous sedimentary rocks which have been slightly metamorphosed. These rocks have been correlated with the Belt Series of the Pre-Cambrian age, although some may be older. These rocks were subsequently intruded by granadiorites and related rocks that are considered to

Jan 1, 1971

By J. N. Eskilsson, W. P. Chen, J. L. Kaplin, V. S. Romero

The Massachusetts Water Resources Authority is currently improving its primary water supply system for the Boston Metropolitan area. The improvements planned by the Authority, which provides water for 46 communities and over 2.5 million people in eastern Massachusetts, include the MetroWest Water Supply Tunnel (MWWST) to provide redundancy in the transmission system, a large capacity water treatment plant and extensive covered storage facilities. The 28.3 km (17.6 miles) long, mostly 4.3 m (14 ft.) I.D. MetroWest Water Supply Tunnel will allow repair of the aging Hultman Aqueduct, which for 56 years has served as the transmission main from the water supply reservoirs to Boston. On completion of the tunnel, the old pipeline aqueduct will be repaired and brought back into service as a parallel, redundant transmission main. This paper describes design considerations and the design process for pressure tunnels in general and the MWWST in particular. It provides an overview of how the design of pressure tunnel and shaft components progresses.

Jan 1, 1997

By Wendell H. Nielson

Flotation processes contain disturbances which make material balance closures difficult to achieve. Lack of closure also arises from instrument errors. A portion of these problems can be overcome by proper equipment selection; the primary measurement installation and methods of initial data filtering are discussed below. The problem of data adjustment has been considered before (2). The technique described here is essentially that of Ripps (2). The technique was expanded to include linearization of non-linear material balance equations. An additional large error detection portion was also added to Ripp&apos;s formulation. Ripp&apos;s technique is based on a Lagrange-Multiplier optimization method. The Lagrange-Multiplier technique is generally applied when there are equality constraints on the variables. Steady-state material balance equations fit in this category. The basic Lagrange-Multiplier method is described. It is followed by a description of the modified material balance data adjustment technique. An example is presented to illustrate the use of this method.

Jan 1, 1970

By Andrew Cho, Changsoo (Kevin) Moon, Richard Flanagan, Brian Larsen

"INTRODUCTION Project Background The U.S. Army Corps of Engineers (USACE)/Port Authority of New York & New Jersey (PANYNJ), as part of their New York and New Jersey Harbor Deepening Project, will dredge this shipping channel to a depth of 16.5 m below mean low water (MLW). By deepening the channel, the new generation of larger, “post-panamax” container ships coming to U.S. waters as a result of the expansion of Panama Canal can be accommodated in local marine terminals, helping to retain the nearly 300,000 jobs and $12 billion in annual wages the PANYNJ provides to the region. The existing siphons are situated at a depth that could be compromised by the planned dredging of the channel (nycedc.com). The purpose of this project is to build a new 1.83 m diameter water main inside a 3.66m diameter tunnel replacing the two existing siphons in order to provide the necessary backup water supply to Staten Island across the Anchorage Channel within the Upper New York Bay from Brooklyn. The proposed tunnel is approximately 2.9 km long and at a depth of at least 26 m below MLW. The project is funded jointly by New York City’s Department of Environmental Protection (NYCDEP) and PANYNJ and is managed by New York City Economic Development Corporation (NYCEDC). The contractor of the project is Tully/OHL JV, the designer is CDM/HMM JV, and the CM is LiRo/PB JV. History of New York City’s Soft Ground Tunneling The New York City area has a relatively long history of soft ground tunneling, commencing in the late 19th century. Construction of the first Hudson River tunnel crossings was begun (but not completed) in 1874 for the Hudson & Manhattan Railroad using compressed air supplying a shield. The work continued intermittently until the project finally opened for service in 1907. These 1.72km long tunnels (maximum depths of 29 m) are still in operation and now operated as the PATH Tunnels. They are approximately 5.5m diameter utilizing cast iron segments. The river bed consisted of primarily silt with shallow rock near the New York side. Air “leaks” occurred during the compressed air excavations resulting in some serious “blows” with water and soil entering the tunnel, including one incident with 20 deaths."

Jan 1, 2016

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 GPS, poor lighting conditions, and similar geometric features in complex mine scenes. LiDAR-based localization and mapping methods are admittedly more accurate than others, while long-time running in large-scale scenarios will also introduce non-negligible cumulative errors. This study presents a semantic-aided LiDAR 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 datasets collected in two large underground mines, namely, a simulated Edgar mine deployed in ROS Gazebo and a public underground mine dataset provided by ETH. Experimental results show that the proposed method has higher localization accuracy and outperforms the existing LiDAR-based SLAM strategies.

Aug 10, 2023