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By Graham Farquharson, Jame Marshall

"Mining towns have always been an important part of Canadian geography. Many Canadians grew up in them. The frontiers of northern Canada would be a lot closer to the United States border but for the pioneering of new mines, new towns, and new transportation routes. Names such as Labrador City, Chibougamau, Val d’Or, Rouyn-Noranda, Kirkland Lake, Timmins, Sudbury, Red Lake, Thompson, Flin Flon, Yellowknife, Whitehorse,Trail and Kimberley are some of the better known larger communities that have grown to become major commercial and government centres, but which started as the base for a mining development.Many other smaller towns never grew beyond being small communities, dependent upon the local mine and many of these are still alive, but perhaps not quite what they used to be. In this list would be Buchans, Schefferville, Chapais, Cadillac, Virginia town, Lynn Lake, Uranium City, Pine Point, and Keno Hill.Nevertheless, all these towns and dozens more like them were residential communities where people lived and raised families and were quite accustomed to being days from the major centres of Montreal, Toronto, Edmonton and Vancouver, and not just hours away as wet end to measure travelling time today."

Jan 1, 1996

By F J. Pearce

The Steel Company of Canada, utilizing the S-L process, has produced partially and highly reduced pellets for use in the blast furnace. Experimental blast furnace tests, using reduced pellet burdens, have been carried out. The changes in production rate, fuel rate and general performance of both the S-L and the blast furnace processes are indicated. Introduction T HE ore burdens for a blast furnace may be improved in two ways: chemically, by concentrating the ore to a high degree of purity; and physically, by agglomerating or closely sizing the ore particles. Today, many b1ast furnaces are charged with closely sized agglomerates, some of which contain upwards of 66 per cent iron. The further improvement of these burdens by chemical concentration may, in many instances, be uneconomic due to the large losses of iron that occur during processing. Assuming that it would be possible to reject all of the gangue minerals, the maximum level of concentration of iron in the hematitic ores would be only about 70 per cent.

Jan 1, 1964

By M. Dadvand, G. Kipuros, A. Dadvand

"The ability to codeposit fillers within a nickel matrix has led to the production of a new generation of cermet coatings with properties useful for various applications. Hexagonal boron nitride (hBN) is a ceramic-type particulate matter with thermal conductivity, thermal stability, inertness, and lubricity properties that allow it to be codeposited. In this paper, a method was developed for modifying hBN surfaces to allow them to be uniformly dispersed in water-based solutions such as an electroless nickel plating bath. hBN surface modification improved wear performance of the electroless plated cermet due to enhanced interaction between the particulate and nickel matrix. RÉSUMÉ La capacité à effectuer un dépôt simultané de charges dans une matrice nickel a abouti à la production d’une nouvelle génération de revêtements cermet (une combinaison de céramique et de métal) dotés de propriétés très utiles pour diverses applications. Le nitrure de bore hexagonal (h-BN) est une matière particulaire de type céramique utilisée pour ses excellentes conductivité et stabilité thermiques, son inertie ainsi que son caractère lubrifiant, qui permettent son dépôt simultané. Cet article explore une méthode mise au point pour modifier les surfaces du h-BN de manière à ce qu’elles se répandent uniformément dans des solutions aqueuses telles qu’un bain de dépôt autocatalytique de nickel. La modification des surfaces du h-BN a amélioré la résistance à l’usure du placage autocatalytique du cermet en raison d’une interaction accrue entre la matière particulaire et la matrice nickel.INTRODUCTION Electroless nickel alloy coatings can be used for many applications; however, the need for improved tribological properties such as higher wear resistance and better lubricity has increased interest in incorporating particulates (fillers) into the nickel matrix by codepositing the particulates with nickel during the plating process. The selection of the particulate type depends on the desired properties (Sahoo & Das, 2011; Sudagar, Lian, & Sha, 2013). In terms of tribological applications, electroless nickel-based composites are categorized mainly into lubricating and wear-resistant composite coatings depending on the type of particles incorporated. The electroless nickel-phosphorus (Ni-P) composite coatings are composed of codeposited solid lubricants such as polytetrafluoroethylene (PTFE), graphite, WS2, MoS2, and hexagonal boron nitride (hBN) and, compared to nanocomposite electroless Ni-P coatings, they demonstrate a lower coefficient of friction. On the other hand, the nickel-phosphorus wear-resistant composite coatings are composed of hard particles such as silicon carbide (SiC), aluminum oxide (Al2O3), boron carbide (B4C), silicon nitride (Si3N4), diamond, tungsten carbide (WC), and zirconium oxide (ZrO2) and, compared to nanocomposite electroless Ni-P coatings, they have higher hardness and better wear resistance (Sahoo & Das, 2011; Sudagar et al., 2013; Parucker, Klein, Binder, Ristow, & Binder, 2014; Chakarova, Georgieva, Petrova, Dobreva, & Stoychev, 2016)."

Jan 1, 2018

By V. N. Mackiw, H. Veltman

"A process is described which permits the separate recovery of lead and zinc from complex low-grade sulphide concentrates such as are produced from the New Brunswick type of disseminated pyrite ores. This process calls for the preparation of a lead-zinc bulk concentrate from the original ore by flotation. The bulk concentrate is then oxidized under pressure in autoclaves in aqueous sulphuric acid solution, such as return electrolyte from zinc electrolysis. This yields a zinc sulphate solution and a residue containing lead sulphate, unaltered pyrite and elemental sulphur generated during the oxidation. After the oxidation, the leach slurry is briefly heated to above the melting point of elemental sulphur and then cooled. Thus, pellets containing pyrite and elemental sulphur are formed, and they are separated from the lead sulphate by screening and/or flotation. Laboratory tests have shown that about 95 per cent of the zinc and lead can be separately recovered from complex bulk concentrates. Process possibilities are discussed."

Jan 1, 1967

By J. H. Canterford

The nickel industry in Australia has followed the general pattern apparent in many other regions - lots of ups and downs, successes and failures, but always plenty of challenges. Some of these can be attributed to local geographical and infrastructure factors, others to a healthy mix of corporate good luck and management countered by decisions that, in retrospect, were less than optimum. The roles of several entrepreneurs have certainly added plenty of spice! In terms of processing technologies, there was an initial heavy reliance on the use of "off the shelf' commercially proven processes such as ammonia leaching of concentrates and mattes, and flash smelting. Over the past decade there has been an increasing dominance of plant modifications and process technologies that have been developed "in house" in order to enhance project economics and exploit lower grade and more complex resources. This presentation provides an overview of the past 40 years of the major developments in the Australian nickel industry and concludes with some guesses as to where we will be in another decade or so.

Jan 1, 2005

By J. E. Sepulveda, R. Morrow

"The Linear Wear Theory provides a reliable framework for the assessment of grinding media performance at full scale. This theory can be applied for analyzing grinding media consumption rates in any given grinding operation as well as the evaluation of alternative grinding media products, based on actual operational data, correcting for conditions like ore hardness, feed and product sizes, mill power and circuit throughput; all of them unrelated to the grinding media intrinsic quality attributes. A series of Moly-Cop Tools 3.0 applications have been developed to facilitate the calculations involved. Moly-Cop Tools 3.0 is available, free of charge, to all interested parties through the corresponding author.INTRODUCTION Mineral grinding circuit operators recognize the significance of grinding media (balls) consumption on the cost structure of any full scale grinding facility. The effective cost associated with this essential consumable depends on two factors: delivered price and durability (quality) of the grinding media. When evaluating alternative grinding media varieties, there is a well accepted evaluation criterion by which a given media type is considered to be “cost-effective” when its unit application cost – normally expressed in $/ton of ore ground – is shown to be lower than that of a nominal reference condition: Grinding Media Cost = Ball Price x Ball Consumption (1) ($ /ton ground) ($/ton balls) (ton balls/ton ground) Under this criterion, an alternative, higher-price grinding media product could be “cost-effective” if its associated consumption rate is sufficiently lower than the reference media, enough to yield a lower grinding cost, as dictated by Equation 1. For the proper application of the above criterion, evaluators must rely on representative indicators of grinding media quality, ideally independent of most mill operating conditions. In each particular case, ball price is always a known component; however, it is not so evident how media performance (quality) differences amongst alternative product types could be assessed with a reasonable degree of accuracy and precision."

Jan 1, 2014

By G. M. Brownell

THE Falcon Lake stock is a small igneous mass, 2.6 square miles in area, which has intruded a belt of older lavas and metamorphosed sediments. It is well exposed and the entire area of its outcrop is taken up with surveyed mining claims, the claim lines forming a grid which makes ideal conditions for a detailed petrographical study of the unusual variations which are found in the composition of this unit (see Figure 1). The study of this mass, which has revealed features of both scientific and economic significance, began in the summer of 1939 when trainees in a Prospectors' Training Camp, a Do-minion-Provincial youth-training project under the writer's supervision, were, detailed to map rock outcrops on various mining claims. Microscopic study of rock specimens taken on a line across this stock were made during the following winter and proved to be of such interest that a special trip was made the following summer for the purpose of gathering more data, the results of which are presented here. Location The stock is close to the southeast corner of the province of Manitoba, about three miles from the Ontario boundary. It lies between Falcon and West Hawk lakes and less than a mile south of the Trans-Canada highway. It is easily accessible by motor car, as a branch road from the highway leads to the Sunbeam Kirkland gold mine, which is within the inner core of the stock. Previous Work This area was the first in the Province to receive attention from prospectors, who entered it from the adjacent Lake of the Woods district during the days of the mining boom in the 1890's. Small occurrences of gold, copper, molybdenum, and tungsten ores were found, but to date there has been no production from the district, except for small shipments of gold ore. The regional geology has been mapped by the Manitoba Department of Mines and Natural Resources, the Falcon Lake stock being shown and recorded as of "varying composition". The more detailed work involved in preparing the accompanying map has necessitated only minor changes in the outline as previously mapped.

Jan 1, 1941

By S. A. G. Poppen, J. Konopka

"Petro-Canada's project investigative and experimental underground work in the Galt coal seam at Kipp, Alberta included the construction of an emergency egress and ventilation raise from surface.The Galt coal seam is 206 m below the surface and covered by 8 m of shale, sandstone and clay beds of the Oldman Formation, 128 m of shale, bentonite beds and sandstone of the Bearpaw Formation, and 70 m of glacial till and basal gravel. Free water was encountered from sand lenses in the glacial till and the basal gravel.Excavation for the ventilation raise was a nominal 2 m diameter and it was lined with a welded, continuous, steel liner of 1.2 m 1.D.Excavation in the glacial till was carried out with a surface bucket drill rig combined with hand mining. Ground support in the glacial till consisted of liner plates and backfill grout. The Bearpaw and Oldman formations were excavated by employing standard raise boring techniques. The individual liner sections of the continuous steel liner were assembled on surface and the entire liner column was lowered into the raise by employing hydraulic lift climbers. The liner column was back-filled with concrete.IntroductionThe Lethbridge Coal Field comprises an area of approximately 1 165 square km in the vicinity of Lethbridge in southern Alberta. Pacific Petroleums Ltd. proposed in a Preliminary Disclosure in January 1979 ""to open an experimental mine prior to development of a producing underground mine with an initial rate of 540,000 tonnes per year"". A 2 900-hectare group of leases in the Kipp-Coalhurst area was selected as the primary target for the Kipp experimental mine. The scope of work for the experimental mine included the construction of an access shaft with production capabilities, the construction of a ventilation and emergency exit raise, drive-ages in coal to yield a bulk sample, gathering of geotechnical information and the testing of experimental mining methods."

Jan 1, 1983

By Jamie N. Burdeski, Susan E. Hartfield-Wünsch

Aluminum sheet use has been steadily increasing in the automotive industry to achieve mass reduction and improve fuel economy. One significant manufacturing challenge for aluminum sheet implementation is the reduced formability compared to the steel alloys it replaces. This paper includes friction results from the draw bead simulator (DBS), twist compression (TCT) and strip draw (SDT) tests, for two oil based lubricants and four hot melt lubricants. Formability testing was done with the same lubricants and materials, testing in pure stretch with a hemispherical punch, and in draw with a breadpan shaped die.

Jan 1, 2015

By Paul W. Shelley, Daniel J. Hodges

The mining industry is undergoing a period of rapid transformative change.  This is the result of the social and financial accountabilities that the industry is faced with because of the world’s desire to cap average temperature increase to 1.50C above pre-industrial levels (UNFCC, 2016).  To limit global warming to 1.50C, greenhouse gas emissions must peak before 2025 at the latest and decline 43% by 2030.  In hard rock mining, comminution is identified as the major energy consumer, being responsible for 40-60% of the electricity use.  It follows that comminution is the major greenhouse gas emission process of the mine.  All effort is being made to radically reduce the carbon emissions of comminution. Grinding media plays a large role in the energy consumption and carbon emission story.  In recent years industry practitioners have attempted to quantify the grinding media carbon footprint.  This paper makes a definitive contribution to that discussion.  The grinding media carbon footprint is quantified in Scope 1, 2 and 3 emission terms in the context of a grinding media supplier.  Major emission contributors, steel, natural gas and electricity are discussed in detail.  The steel industry transition is a key factor. The paper will explore the steel industry transition and its effect on grinding media manufacturing.  The carbon footprint of heritage steel process routes are analysed and compared with the process routes of the future.  Emerging steel making technologies are presented and discussed.  The future of the steel manufacturing and procurement route for grinding media is proposed. This narrative allows for a comparison between the heritage carbon footprint and the future carbon footprint of manufactured grinding media.  Of equal importance is the opportunity of reducing the grinding media carbon footprint in the field.  The paper explores possibilities of reducing the grinding media carbon footprint at the customer site.  Media in use options are presented that take account of the mineral characteristics, the mill dynamics, and the product metallurgy to optimise both carbon footprint and media performance. It is intended that this is a landmark paper in the discussion of the carbon footprint of grinding media.

May 4, 2025

By William C. Martin

"Consolidated Sudbury Basin Mines Limited owns two mines, 4 miles apart, near the southwest end of Sudbury Basin. The Errington mine lies close to the north boundary of Creighton Township and about 18 miles by car from Sudbury. The Vermilion Lake mine is in Fairbank Township, on the south side of Vermilion Lake.The first discovery of base-metal mineralization within Sudbury basin was made by James Stobie in 1897 at Stobie Falls on the Vermilion River, half a mile west of the Errington mine. A few years later Alphonse Oilier made a discovery of massive pyrite with base-metal sulphides near the west end of the present Errington workings.No work of consequence was done on these discoveries until 1924, when Joseph Errington acquired options on a large acreage of ground which was later taken over by the Treadwell Yukon Company Limited. After considerable diamond drilling this company sank No. 1 shaft in 1926. In the next three years, a large amount of underground development was done, a pilot mill was constructed and operated for two years. All operations ceased in 1931 with the fall in metal prices. While in operation the pilot mill treated 186,172 tons of ore the average grade of which was 1·07 per cent copper; 1 10 per cent lead; 4·60 per cent zinc; 0·03 ounces gold; and 1 70 ounces silver.Up to the time of closing in 193 l there had been completed at the mine 26, 790 feet of lateral work and 75,500 feet of surface and underground diamond drilling. The company records, however, showed no figures on ore reserves, except broken ore in stopes amounting to about 60,000 tons. A study of the plans, prior to reopening the mine in 1952, showed 1,450 lineal feet of ore (at 1952 prices) opened up by drifting on the 300-foot and 500- foot levels. It is clear that no comprehensive picture of the structure was had at this time. The orebodies were considered to be very irregular pods scattered through masses of quartzite-carbonate in a sheared zone about 800 feet wide. In some way the ore was believed to be related to the tuff-slate contact zone. With this picture it was impossible to make a reasonable ore estimate or even gauge the tonnage potentialities with any feeling of reliability."

Jan 1, 1949

By J. E. Nesset

"Significant progress has been made over the past few years on characterizing and understanding the hydrodynamic properties of frothers and collectors and their effect on flotation performance. This new understanding of the relationship between chemistry and hydrodynamics has dramatic implications for how flotation circuits should be controlled and optimized. Previous work has shown that choosing a frother of the right ‘strength’ is critical to the optimization process, and the work and discussion presented here serve to strengthen the argument. In addition, we know that collector chemistry will also influence hydrodynamic properties and needs to be taken into consideration. To achieve the desired outcome, the overall system of reagents and operating parameters must be considered. This paper describes and discusses some of the findings from recent research on frother and collector chemistry effects (on hydrodynamics), and how this knowledge can be used to improve flotation performance. Examples from plant experience are discussed.INTRODUCTIONFrothers perform various functions in flotation but the primary ones are control of bubble size in the pulp zone and stabilization of the froth zone. Laskowski (2003) was among the first to try to capture both roles in characterizing frothers in order to provide a basis for frother selection for a given duty, as well as to explore the link between function and frother chemistry (structure). The method he used requires bubble size data and a frothing index; the procedure has been simplified by Cappuccitti and Finch (2008) using gas hold-up to substitute for bubble size, and froth height (without overflow) as the froth stability metric. The gas hold-up/froth height relationship will be referred to as ‘hydrodynamic characterization’. Essentially, the gas hold-up parameter reflects the sum of the hydrodynamic conditions in the pulp phase (water in this case), i.e. the effect of bubble size plus the apparent impact of the water surrounding the bubble due to the frother (Finch, Nesset and Acuna, 2008). Similarly, the stable froth height parameter reflects the sum of hydrodynamic conditions in the froth, i.e. the effect of bubble size undergoing coalescence plus the influence of the water in the lamellae and Plateau borders between bubbles. It could be argued that the gas hold-up/froth height relationship is a superior one to simple bubble size/froth index for discerning differences in frother behaviour"

Jan 1, 2010

By The Staff

"SummaryDetermination of uranium in ores may be made by measurement of their radioactivity.The method most commonly used is that of measuring beta radiations with the tray-type beta counter. This will give an accurate uranium determination provided the sample does not contain thurium and that the beta and gamma activities have not been disturbed from their natural state of equilibrium. Such a loss of equilibrium will result from mining the ore or from the weathering of the surface rock.A method is described which eliminates errors due to loss of equilibrium. The beta and gamma activities are measured simultaneously in one simple operation. This method is recommended for assaying samples of products from milling operations and its use is limited only by the presence of thorium in a ratio greater than one part of thorium to twenty parts of uranium.A third method is recommended for the analysis of exploration samples and diamond drill cores, which may be assayed in the uncrushed state.Rapid determinations of a large number of samples is possible with the pressure ionization chamber, which is sensitive to gamma activity."

Jan 1, 1950

By G. A. Van Wielingen

"The conditioning of natural gas to meet contract pipeline specifications involves in the majority of cases in Western Canada, the appropriation of substantial capital expenditures for treating and processing installations. It is therefore of vital importance to the owners and producers of natural gas to arrive at an appreciation of the economics pertaining to the production and surface handling of their gas reserves at the earliest possible stage of field development. The treating and processing of natural gas often results in considerable changes in composition and related physical characteristics between the wellhead and the point of delivery of the saleable gas. This paper presents a general outline of engineering calculations which can be applied in the pre-determination of the effects that surface handling of gas will have on the composition and physical characteristics of sale-able gas. Emphasis has been placed on the calculation of hydrocarbon dew-points, heating values and shrinkages prevailing at the various stages in the surface handling of natural gas. It is believed that advance information indicating the approximate ranges of these physical properties will facilitate process selection and will provide a basis for the estimation of capital and operating costs of process installations."

Jan 1, 1960

By Robert J. McCarthy

There are two things on everyone's lips when mining folks gather these days - one is the exciting business opportunities that now exist for mine development and expansion, and the other is the dire shortage of human resources needed to design, manage, and even operate the mines. Years of stagnant industry growth, limited employment opportunities, and unwarranted perceptions of remote and harsh working conditions have caused mining to be a less than desirable career choice. Attrition and reduced entry to the workforce has resulted in shortages for not only mining professionals, but also skilled trades people and operators. Consequently, to survive, let alone grow, mining companies, suppliers, and educators are all pursuing innovative solutions with technology, inter-industry recruiting, centralized services, and strategic partnerships. This paper describes some of these initiatives and proposes others, now that the people are gone!

May 1, 2008

By A. F. Matheson

The St. John Del Rey Mining Company, Limited, is an English company owning 150 square miles -of mining lands near Belo Horizonte, Minas Geraes, Brazil. The area is 2,300 to 5,000 feet above sea level, with a pleasant and healthy climate. Bedrock is Precambrian. The Nova Lima series of metamorphosed sediments and some volcanics is overlain uncomfortably by the Minas series of quartzites, itabirites. etc. Batholithic granite and gneiss cut both series and basic dykes cut all these rocks. There are important deposits of gold, iron, and manganese on the Company's holdings, as well as occurrences of arsenic, antimony, cobalt, nickel, dolomite, day, quartz, -ochre, bauxite, kyanite, and asbestos. Except for gold and consequent recovery of arsenic, all the other materials are relatively unexploited. The Company operates the Morro Velho gold mine and the Espirito Santo and Raposos gold mine. The Morro Velho mine was purchased in 1834 for £56,000. To the end of 1952 it had produced 7,000,000 troy ounces of gold from 15,000,000 short tons of ore. The ore z?ones are replacement deposits in a sinuous siliceous dolomitic rock locally termed "lapa seca," and plunge east, near surface at 45 °, at 8,000 feet at 15°. The ore minerals are pyrrhotite, arsenopyrite, pyrite, and chalcopyrite. Gold is finely distributed and almost nowhere visible. Ore reserves at the end of 1952 were estimated at 5.5 million short tons grading 0.39 oz. gold per ton. Chances exist for new ore within the mine area. The Espirito Santo and Reposos mine, in folded banded iron formation, has mineralization similar to Morro Velho but sulphides are less abundant. The mine to a depth of 2,500 feet has estimated ore reserves of 1.5 million tons of an average grade of 0.28 oz. gold per ton. New ore may be expected both laterally and at depth. To the end -of 1952, the ?Company had paid dividends of almost £4,- 600,000, largely earned from the operation of the gold mines.

Jan 1, 1956

By C. R. Powell, W. H. Maher

"This paper presents a short history of the development of milling at Buchans, Newfoundland, and a description of the operation.History and DevelopmentTHE original ore discovery was made at Buchans in 1905 by Matty Mitchell, a Micmac Indian who was prospecting for The Anglo Newfoundland Development Company, which company was then preparing to build a paper mill at Grand Falls, some 50 miles east of Buchans. A development program, initiated in 1906, was terminated in 1911 because of metallurgical difficulties. Intermittent testing was carried out by The American Smelting and Refining Company, and in 1925 a satisfactory method of concentration by flotation was found. Following this, intensive geophysical reconnaisasnce, succeeded by diamond drilling, uncovered two additional orebodies similar to the original discovery at Buchans River."

Jan 1, 1966

By C. E. Ells

Current knowledge of the behaviour of inert gases in metals is reviewed, with particular emphasis given to the phenomenon of the growth of gas-filled bubbles.

Jan 1, 1960

By J. A. Haskin

The Engineering Department at Flin Flon has the following responsibilities: 1. Underground Surveying. 2. Open-Pit Surveying and Supervision of Blasting. 3. Mine Geology and Examination of Prospects. 4. Design of Plant Additions and Improvements. 5. Miscellaneous Field W ork, Reports, etc. The entire surface plant, as well as the underground workings, are located by co-ordinates based on a triangulation system covering an area approximately one mile long by one-half mile wide. The origin of this system and one end of the base-line is the southwest corner of Township 67, Range 29, west of the Principal Meridian. The bearing of the base-line was determined from the township boundary, which runs true north, so that all other bearings are almost astronomical. This is a great convenience when our surveys must be tied to mineral claims, rights-of-way, and land subdivisions. As the base-line extends across Flin Flon lake, its measurement across smooth ice was simple and accurate. The length, slightly over 1,600 feet, has been adjusted for the temperature and tension of the standard tapes used and checked sufficiently to ensure a maximum error of 1 : 15,000. Each angle was repeated ten times, but as no special refinements were used, errors of as much as four or five seconds are possible. The elevation of the origin of the triangulation system was approximately 1,050 feet above sea level. The use of this true elevation in our surveys would have resulted in negative elevations underground as soon as the mine reached a depth greater than 1,050 feet. To avoid this complication we therefore added 4,000 feet to this elevation. The collar of the Main shaft, for example, which is actually 1,072 feet above sea level, appears in our records as at elevation 5,072. Underground surveying, which follows standard practice, is done by two mine surveyors who share three helpers. The meridian is taken underground from two wires hung in either of the two vertical shafts.

Jan 1, 1935

By Yutaro Fukase

Various types of service robots have recently been developed for guarding facilities, caring for the elderly, carrying objects, and cleaning buildings. As barrier-free facilities improve and their use expands, these robots have more space within which to move inside buildings. Yet robots that move autonomously rely on position-detection systems. Though improving rapidly, these systems are far from perfect in determining positions in certain situations, especially when robots navigate large areas or cross various locations. Our group is working to solve this problem by developing a position-detection system using random-dot patterns on a floor. First, we construct a floor with a random-dot pattern and register the positions of all of the dots into a database. As the robot moves across the floor, a camera on the robot captures an image of the floor beneath it and crops the dot pattern in the image. The cropped dot pattern is matched to the dot patterns in the database to determine the position of the robot and the direction in which the robot is facing or moving. In this paper we propose a self-localization system and matching algorithms derived from a space technology and present the results of several experiments.

Aug 1, 2013