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By O. Matwijenko

"1. IntroductionThe Falconbridge Owl Creek open pit gold mine is located 17 km northeast of Timmins and 2.5 km west of the Kidd Creek metallurgical site. Diamond drilling first commenced in 1964 with open pit production commencing in 1982. Other operations within close proximity are the Canamax-Pamour Bell Creek Mine and the Falconbridge Hoyle Pond Mine.Since 1982, 1,216,000 tonnes assaying 4.5 g/t have been processed in six concentrators. This paper summarizes the metallurgy achieved with special emphasis on some of the unique problems encountered in the processing of this refractory ore.2. GeologyThe Owl Creek deposit, located 3 km north of the Porcupine-Destor fault is in easterly trending carbonaceously altered volcanic and sedimentary rocks. The deposit strikes east and dips steeply north.The ore body can be best described as a wedge shaped sandwich of volcanic basalt between the surrounding sedimentary greywacke. The north and south volcanic-sedimentary interfaces are marked by graphitic zones. The south graphitic contact is more continuous with its thickness varying from 5 m to 20 m as compared to 0.5 m to 3 m to the north. Quartz veins occur throughout the deposit with a predominant vein running along the south contact where it is characterized by numerous graphitic inclusions. Some veins carrying gold values intrude into the sediments in the north. With depth the sedimentary and volcanic zones taper while the quartz-graphitic zones appear to become more dominant."

Jan 1, 1988

By Rick Moignard

Relationships between Information Technology providers and their clients are often segmented according to job specific tasks. As a consequence, technology providers tend to focus on automating repetition and complexity, resulting in software that improves individual productivity while failing to address the interdependency of mining functions. For this reason, technology vendors like Gemcom are following partnership approaches with their clients, engaging corporate and operational stakeholders to better understand mining business objectives. This presentation examines some of the approaches that help foster the development of solutions that leverage the information produced during mine operations to improve downstream process control and tactical decision support.

May 1, 2006

By P. W. Waggitt

ABSTRACT From approximately 1986 until 2000, uranium production was at a historic low. In 2003, uranium mineral exploration surged, despite the global financial crisis; however, the shortage and aging of qualified and experienced operators and regulators might soon become a constraint to this upsurge. This is true for all types of engineers, geologists, other scientists, tradespeople, and technicians. The situation raises questions about how the global mining industry in general and the uranium sector in particular will cope with future staffing needs. In this paper, the author examines the current situation and describes how some organizations are seeking possible solutions.

Jan 1, 2014

By R. V. Typliski, G. J. Labarre

"Hudson Bay Mining and Smelting Co., Limited, Flin Flon, Manitoba, Canada, has developed a metallurgical wastewater treatment system employing two-stage lime neutralization, sludge recirculation and conventional mechanical thickening.Laboratory investigations, initiated in 1970, led to the construction of a pilot-scale minewater treatment plant, at Schist Lake Mine, in early 1971. This plant, treating 600 cubic meters/day wastewater containing 30-60 mg/l zinc, demonstrated metal extraction efficiencies of 99% under normal operating conditions.On the basis of this pilot work, a second pilot-scale treatment system was established in 1975 at the Flin Flon metallurgical plant to treat zinc refinery process waste water. Through numerous improvements, including automatic control equipment, the system has evolved to a full-scale operation capable of treating 800 cubic meters/ day wastewater containing 4-11 gm/l zinc. Treated effluent contains 0.2-20 mgll zinc. Hydroxide sludge produced returns to the metallurgical process for recovery of metals while clarified effluent discharges to waste.With the system, Hudson Bay Mining has achieved its original goal: the reduction of environmental contamination, while realizing ii return from metal recovery."

Jan 1, 1980

By R. Siwik, N. K. Davé

"The national reactive tailings (RATS) program is a co-operative industry-government effort to develop practical techniques for closure of reactive tailings areas. This paper summarizes the RATS program objectives and areas of research, and details the Noranda/CANMET project on the Waite Amulet tailings.Geophysical and biohydrogeochemical investigations were carried out at an inactive copper-zinc mine tailings site, Waite Amulet, in Noranda, Quebec. Geophysical investigations consisted of seismic, electromagnetic conductivity and electrical resistivity surveys to determine the thickness of the layers above bedrock and to map conductivity variations within the tailings and the immediate outlying area. Biohydrogeochemical investigations consisted of installing multilevel piezometer nests to determine groundwater flow patterns and porewater chemistry, obtaining solid core samples and characterizing for physical, chemical and mineralogical parameters, and iron oxidizing and sulphate reducing bacterial counts.The geophysical survey indicated a bedrock ridge extending under the tailings from the northeastern outcrop which may act as a porewater boundary layer. The survey also indicated a 2 to 20 m clay layer underlying the main tailings dam. Preliminary results of the saturated zone porewater chemistry have indicated three major zones of high electrical conductivity varying between 1,000 to 12,000 µs and pH between 3.4 to 8. Lower pH and high metal and sulphate concentrations were obtained in a shallow zone near the water table. With depth, the concentration of metal and sulphate ions decreased and pH increased below the water table. The underlying clay layer is relatively impervious -and most of the seepage from the tailings is probably exiting from the sides of the impoundment dam."

Jan 1, 1987

By Sarah Belair, Gauthier Deblonde, Valerie Weigel, Alexandre Chagnes, Gerard Cote

"Niobium and tantalum are strategic metals for electronic and alloys industries. They are produced by pyrometallurgy and hydrometallurgy but most of the niobium and tantalum production processes are not environmentally friendly. For instance, in the hydrometallurgical route, niobium and tantalum separation can only be achieved by liquid-liquid extraction in the presence of hydrofluoric acid by taking advantage of the difference in niobium(V) and tantalum(V) speciation in fluoride-based media. Therefore, the environmental footprint of hydrometallurgical processes for the production of niobium and tantalum could be clearly lowered by replacing HF or NH4F by greener media such as alkaline solutions in which high solubility of niobium(V) and tantalum(V) can be achieved.The development of such new efficient and environmentally friendly hydrometallurgical processes requires a fine description of the physicochemistry of niobium(V) and tantalum(V) in alkaline solutions. Unfortunately, literature data show a huge discrepancy on niobium(V) and tantalum(V) speciation in such media. This paper gives a brief overview of the niobium(V)-tantalum(V) production processes and paves the way to the development of alternative processes in alkaline media by presenting and discussing recent advances in the physicochemistry of niobium(V) and tantalum(V) in these media.INTRODUCTIONNiobium and tantalum are strategic metals since they are used for the production of alloys and super alloys, capacitors and magnets in strategic industries such as electronic, aeronautics and automobile. The main sources of niobium and tantalum are given in Table 1."

Jan 1, 2016

By D. Milne, P. Germain, G. Sauriol

"The practical determination of optimum stope geometry has, until recently, been an art relying primarily on experience at a given operation. Due to the complex and variable nature of rock masses in situ, stopes are often designed either very conservatively, resulting in excess development, or non-conservative resulting in excessive dilution and, in some cases, in loss of ore reserves.The Geomechanics group of the Mining Technology Division, Centre de Recherche Noranda, uses a combination numerical modelling and empirical design techniques to optimize allowable stope geometries. The above methodology allows the optim ization of stope geometry for varying rockmass classifications within an operation or between different operations. Such techniques require the development of a thorough geotechnical database at each operation and are best used when calibrated to the specific operation through back analysis.This paper discusses the above optimization techniques in light of specific examples from the Noranda Group. The design methods, limitations and results are discussed.INTRODUCTIONMine design has traditionally referred to production planning, general facility layout, (i.e. ore passes, crusher stations, main haulage drifts, etc.) and ventilation design. The dimensioning and sequencing of the stopes and pillars, however, has been almost solely based on trial and error and precedent practice.More recently, numerical stress analysis has received much more attention as part of the design process. It is common now at many operations to look at the effect of proposed stope layouts and sequences on stress redistribution through the surrounding mine workings. Through calibration of actual stope and pillar behaviour in situ, one can then relate the model predictions to support requirements, safety problems, etc."

Jan 1, 1989

By Damian Connelly

The metallurgical heart of the majority of copper oxide processes is the heap leaching operation. Fresh low grade sulfide ores is a far greater challenge.The success of this unit operation is so important that operators need to understand the ramifications of their decisions or non-decisions and how they could affect the downstream processing. Heap leaching is an operation that can be described as a scientific art whereby principles of science can be used to guide experienced personnel in attaining their goals. Recent advances have been made based on better understanding the ore characteristics. The success of a heap leach operation, or otherwise, is dependent upon a number of factors, notably: The type of ore to be treated The extent of testwork completed to define the process The interpretation of the testwork results Ore preparation prior to stacking Agglomeration and curing requirements Other issues are: Compliance with the ’smaller’ requirements of environmental authorities Adequate and timely drainage of solution from the base of a leaching lift The degree of saturation in the pads Heap porosity – coarser or finer ore, which is better? Higher or lower irrigation rates – which would produce a better result? Laying out irrigation pipework for ease of operation and maintenance The addition of water, raffinate during agglomeration where needed The heap leaching of sulfide ores, including chalcopyrite, via enhanced bacterial leaching is discussed. INTRODUCTION Over the last twenty years, production of extremely pure copper from solvent extraction and electrowinning (SX/EW) has become more common in a market of real declining prices for copper metal. This paper touches on a number of heap leach operations and experiences. These projects were subjected to extensive engineering design and resulted in low capital cost, efficient operations with a number of lessons learned. The key to these operations was the performance of the heaps and associated fluid collection systems rather than the plants themselves.

Jan 1, 2019

By Jeff Bird, Xijia Wu, Prakash C. Patnaik

"Prognosis and health management (PHM) is an evolving suite of technologies intended for application to the life cycle management (LCM) of mission/safety critical systems, with anticipated results, which will: - Reduce life cycle cost - Enhance operational safety and readiness - Assist in maintenance decision-making - Enable autonomic logistics While it is emphasized in the United States that future multi-mission fighter aircraft such as Joint Strike Fighter (JSF) must have PHM capabilities, Canadian initiatives also recognize the need to implement such schemes for future and legacy military and civil aerospace systems. With respect to four major technology areas of PHM, i.e., i) advanced sensors, ii) data analysis and fusion, iii) life consumption evaluation, and iv) predictions with reliability/risk assessment, there has been advanced technologies developed by NRC and others within Canada: - Aircraft/engine instrumentation and airborne data recording systems - Signal analysis and data fusion - On-line engine health monitoring - Physics based models for engine material failure modes and life prediction - Autonomic crack growth analysis for damage tolerance of engine components - Mission severity analysis algorithm - Probability, reliability and risk assessment This presentation reviews the above technologies in relevance to PHM, emphasizes the need to have physics based models and outlines the future R&D needs for integration and implementation of these technologies suitable for the advanced and legacy aircraft."

Jan 1, 2004

By G. H. Blackwell, A. J. Sinclair

"The main components of a ""PC” -based mineral inventory system are described in a sequence common to many real reserve/ resource estimation projects and in the practical context of problems and decision-making typically encountered in such studies. Some components are designed particuarly to improve the geostatistical instructional capability of the package. An important part of this approach involves the use of widely available software for data manipulation and evaluation in the design of a mineral inventory study progressing to mine design and feasibility. A variety of more or- less fixed routines written in high level languages provide acceptable computational speeds on a personal computer. These critical segments are linked by simple, short, compiled Basic programs easily adjustable to various data configurations and needs. IntroductionGeostatistical mineral inventory estimation has progressed greatly since its slow dissemination during the 1960s. The mining industry generally has accepted the benefits of the technique, notably the quantification of grade and geology, an indication of error in grade estimation, and of the mined volume / grade variance relationship (Clark, 1979, Isaacs and Srivastava, 1989).Acceptance has been slowed, first by complexities of geostatistical theory and second by a bewildering variety of computer systems and applications programs. Continuing improvements in education will facilitate a better understanding of the underlying theory.The purpose of this paper is to describe, in a practical context, the development of a geostatistical-based approach to reserve/resource estimation. The approach integrates various existing commercial software packages with a wide selection of programs developed by the authors for personal computers which estimate mineral inventories and educate users in the techniques applied; that is, the QMIN system.It is hoped that the approach presented here will convince mining and geological engineers concerned with resource estimation, of the soundness of geostatistical methods and its broad potential to their problems."

Jan 1, 1992

By C. Patel, George H. Hope

"INTRODUCTIONThe Hemlo area is located in Northern Ontario, some 350 km east of Thunder Bay along highway 17. Hemlo is Canada's largest, recent discovery of gold ore. Three companies, Lac, Noranda, and Teck are currently developing mines and processing facilities in the area. A combined milling capacity of approximately 10,000 tonnes per day will ultimately be available in the area. The gold yield will be between 750,000 to 1,000,000 ozs. per year. This will slightly more than double Ontario's gold production but only represents 2.5% of the total world gold production.Lac Minerals Ltd. is substantially committed to the gold mining business. Lac currently operates four (4) gold mines and mills and produces 300,000 ozs. per year. Lac's Hemlo development will put the company in the position of number one gold producer in Canada.The Lac Hemlo ore body has an estimated reserve of 37 million tonnes at 6.2 g/t. The mining will take place at an initial rate of 3,000 t/d commencing in the first quarter of 1986. The mine and plant will be expanded to 6,000 t/d in 1988. At this capacity, Lac will be the largest producer in the Hemlo area.1. GEOLOGYThe orebody is divided into two (2) zones for mining purposes. The 'A' Zone is to the east and dips to the Northeast from surface to 300 m below surface. This zone has a strike length of 250 m to 300 m at an average width of 20 m. The upperpart of the zone will be mined by open pit and the remainder from underground. The 'B' Zone, to the north west of the 'A' Zone, although lined up is not necessarily an extension of 'A' Zone. 'B' Zone has a known strike length of 600 m and is open to depth and along the strike. It is over 70 m wide in the core. This zone holds most of the property's known reserves. 'C' Zone with narrow gold zones is under exploration in the south west portion of the property."

Jan 1, 1985

By Zetti Gavelán

Lack of skilled workforce in mining industry during the current decade has been a serious concern for most mining organization globally. At the beginning of this decade the major envisioned difficulty was related to generational breach of mining professionals. By 2003, mining industry recover from a low metal prices cycle following by a worldwide mining investment boom in 2005 that triggers a talent war among mining companies that was not only limited to professional level but skilled operators as well. Despite world?s economy collapse in October 2008, impact on mining industry was small comparing to other industries and appears to show evidence of healing. Under this context, fundamentals that have been driven lack of skilled workforce for the mining industry in previous years still valid. Starting in 2007, Minera Argentina Gold SA - Barrick Veladero, subsidiary of Barrick Gold, initiated an innovative selection and training program for candidates without exposure to mining. Following our corporate social responsibility mandates, Barrick Veladero decided to change its hiring process entirely, concentrating on selection and training of local people with no experience rather than hire experienced mining operators. This paper shares Barrick Veladero experiences on its hiring program, challenges faced, and current results.

May 1, 2010

By C. J. Brown

Since its commercialization thirty years ago, the Recoflo® short bed ion exchange process has been extensively utilized for the recovery of a wide variety of acids and metal salts. In addition to a reduction in resin bed height from 200 cm to 300 cm to 15 cm to 60 cm, the process has a number of features such as utilization of fine mesh resins in a compressed bed which together make it ideal for a number of applications. The process has been extensively exploited, for example, in the metal finishing industry for recovery of valuable chemicals from electroplating, anodizing, etching and pickling wastes. More recently, it has also been applied in the primary metals industry for purification of copper electrolytes and metals recovery from leachates. The paper discusses several of these applications and some of the issues that were found to be key to their success.

Jan 1, 2004

By A. B. Cron, R. MacPhail, L. Melis, K. Armstong

"Mt. Milligan is a porphyry gold/copper deposit in north-central British Columbia. Diluted and mineable drill-indicated reserves total 449 million tons at an average grade of 0.013 oz gold/ton and 0.19% copper. Large-scale commercial development of the deposit will make Mt. Milligan Canada's third largest gold mine.Metallurgical investigations for the Mt. Milligan project were done in three phases: scoping tests in the first half of 1989; bench-scale work from October 1989 to April 1990; and a pilot plant program in May and June 1990. Various process alternatives for the recovery of gold and copper are described and results are presented. Net smelter return evaluations led to the selection of optimum process conditions for maximizing revenue from gold/copper flotation concentrates.The selected flotation circuit and basic design criteria are described. Forecast average recoveries over the presently-defined 20-year project life are 75.2% for gold and 90.5% for copper in a copper concentrate averaging 17.6% copper and 1.0 oz gold/ton. 1.0 PROJECT LOCATIONThe Mt. Milligan porphyry gold/copper deposit is located in northcentral British Columbia, 150 km north of Prince George, British Columbia. The site is at an elevation of 1,100 m in an area of logged, gently-rolling topography. Nearby communities include MacKenzie and Fort St. James. Climate in the area is moderate and there is direct road access to the property. A location map is presented in Figure 1-1."

Jan 1, 1991

By D. F. VanDine, H. George

"The possibility of spoil pile failure at the Kara Kara bauxite strip mine, Guyana, South America, is of major concern to the mine operators. The current mining technique requires the continuous operation of an 11 ms bucket capacity walking dragline on top of 18 metres of freshly spoiled uncompacted overburden material consisting of varying mixtures of kaolinitic clay and quartzitic sand. A field biased geotechnical study of undisturbed overburden and corresponding spoiled material has identified site-specific, non-linear correlations between vane shear strength, standard penetration resistance and spoil pile composition. Readily available geological exploration borehole logs has enabled a composite clay isopach map of the entire mining property to be drawn and critical areas to be zoned according to expected slope stability. Stability has been assessed using simple hand calculation techniques. Use of the resulting stability map provides the mine operators with a means of forecasting the need for appropriate preventative measures at varying stages of mine development, throughout the life of the mine.A similar investigation procedure could be employed at many presently operating and future strip mines.IntroductionThe Kara Kara bauxite stripe mine is located at Linden within the bauxite belt of Guyana in South America. The mining property covers a total area of 88 hectares of flat to gently sloping ground of which some forty per cent is being actively mined or being preparatorily stripped of overburden, prior to eventual mining (George and Gordon, 1979). The regional climate is tropic and humid. Temperatures vary from 16°C to 38°C and yearly rainfall averages 2600 mm, with at least 55 per cent of this precipitation occurring during the 'wet season' months of May to July and December to January."

Jan 1, 1983

By S. Pinard, J. MacLellan, G. Ehlert

"The Kidd Creek concentrator is looking actively for alternative technology as means of reducing operating costs in their concentrate handling section. The use of pressure and vacuum filters to eliminate the multiple hearth dryers would have the most beneficial effect. The dryers which constitute the greater portion of concentrate drying costs consume about 35,000 m3 per day of natural gas.After the evaluation of various filters by Kidd's technology group, it was clear that, because of the low final moisture requirements of 5.5 to 6% H20, few filters were able to achieve this target economically. Lately attention has focused on the Andritz hyperbaric filter. Testwork has shown that target moistures can be achieved with an appreciable reduction in operating cost.1.0 INTRODUCTIONThe Kidd Creek Concentrator is located 28 kilometers east of Timmins, Ontario. The ore is hauled by the Kidd Creek Railroad to the concentrator where it is milled to produce separate copper and zinc concentrates.Projected concentrator feed for 1991 is 3,750,000 tonnes of ore grading 3.3 % Cu and 4.7 % Zn. The concentrate production is expected to be 458,080 dry tonnes of copper concentrate at a grade of 25.7 % Cu and 265,020 dry tonnes of zinc concentrate at a grade of 54 % Zn.Currently, there is active investigation toward cost reduction through implementation of new technologies. One area which has been extensively evaluated is the concentrate dewatering and drying section. In that section, the multiple hearth concentrate dryers represent the largest source of operating costs, mainly through maintenance and energy costs (electricity and natural gas). The replacement of these dryers with filtration technology that could produce the required concentrate dryness would represent substantial savings.In September of 1990 filtration testwork carried out by Andritz Ruthner showed that Kidd Creek copper and zinc concentrates could be filtered to below 6 and 8 % moisture respectively. In late May 1991 the laboratory testwork was duplicated on siteand one month later a 5 m2 pilot filter was tested on site. Based on the pilot test results, an economic evaluation was performed. It indicated that a reasonable payback could be realized if hyperbaric filters were to replace the existing concentrate drying section."

Jan 1, 1992

By Ron Board

"Probably the only thing that can he said about conveyor belt scales without fear of contradiction is that they have been responsible for as much or more puzzlement, argument and frustration than almost any other piece of equipment commonly found in ore processing facilities. To be sure, there are certainly a good number of satisfactory installations, some of these having been achieved through forethought and careful consideration in the early stages of plant design, while others seem to owl their success to what seems to be little more than good luck or white witchcraft; and it might also appear that black witchcraft or other gremlins are solely responsible for the poor performance of many belt scales that enjoy well-designed installations with apparently good operating conditions.This paper is intended to acquaint users with the major operational reasons why belt scales seem so fickle (and downright ornery too), and establish some reasonably simple test standards against which the performance of scale hardware can be measured. Then it shall be shown how the design flexibility of electronic scale systems can offer particular advantages in overcoming some of these everyday problems in a practical way, and without undue inconvenience to plant operations."

Jan 1, 1975

By Silvana Costa

In the last two decades, there have been nearly no new mining towns built in Canada. Governments and mining companies have viewed long distance commuting (LDC), commonly known as fly-in-flyout or fly-in mines, as a way to avoid problems associated with building a new community and providing for its sustainability after mine closure. LDC is also considered more cost-effective than building a mine town. The intensification of the use of LDC in the Canadian mining sector has been quite rapid, particularly in northern regions. However, LDC has implications to employees, their families and communities, which deserve further examination, particularly considering the significant expansion in Northern mining and Aboriginal participation in this sector. This paper presents a review of the major issues in long distance commuting, both from an industry and community perspectives. It is a result of preliminary investigation for a PhD research project that will be pursued by a Bridge Fellow and UBC Mining Sustainability Working Group member, and guided by an interdisciplinary research team at the University of British Columbia (UBC). The Bridge Fellowship Program is research-training program linking the UBC?s Faculties of Medicine, Engineering and Graduate Studies. Its mission is to develop creative evidence-based prevention measures for public, environmental and occupational health problems. The SWG is an interdisciplinary student group based in the UBC Department of Mining Engineering, committed to respond to the complex sustainability-related challenges currently faced by the mining industry. In other to pursue this project, it is paramount that industry and local communities alike participate in the development and clarification of research questions as well as in the research design. It is hoped that this paper will function as an invitation for industrial and community partners for such study. The main themes identified for this research are occupational health and safety of LDC employees, family life impacts and community health impacts of this model of resource development.

May 1, 2004

By Aysan Molaei, Kristian E. Waters

"Solvent extraction is the one of the most common techniques for recovering metal ions from aqueous systems. However, it is not efficient in the extraction of low concentration metal ions from aqueous solutions. Predispersed solvent extraction (PDSE) is an alternative method for solvent extraction which implies colloidal liquid aphrons as extracting agents in order to reach higher interfacial area and lower reagent consumption. This work investigated important parameters in PDSE of nickel ions from dilute aqueous solutions by fractional factorial design of experiments. Four experimental parameters, the initial extractant concentration, initial surfactant concentration, equilibrium pH and phase volume ratio (organic to aqueous ratio) were investigated. The important parameters were determined as well as important interactions between these parameters. It was found that extractant concentration, phase volume ratio, and equilibrium pH are the most significant experimental parameters. However, the interaction between surfactant concentration and other parameters was determined as significant interactions.INTRODUCTIONNickel is one of the key components found in cars, mobile phones, rechargeable batteries, kitchen appliances, and steel industry (Anyadike, 2002). It is one of the most important metals produced by Canada which is in the five top nickel producers in the world. Despite a 24% decrease in the nickel prices from 2011 to 2014 the nickel global mine production increased by 36% between these years (U.S. Geological Survey, 2015; Nickel - Statista Dossier, 2015), which shows the increasing demand for nickel. This high demand leads producers to consider the production of nickel from low grade ores and other secondary sources such as process wastewaters. The removal of nickel ions from process wastewater is also important due to environmental considerations. Nickel is known to be a human carcinogen and it may cause serious lung and kidney problems, pulmonary fibrosis, gastrointestinal distress, and skin dermatitis if it exceeds the critical level (Borba et al., 2006; Fu & Wang, 2011)."

Jan 1, 2016

By Joseph N. Bakambu

It is currently recognized by mining society that autonomously guided underground mining vehicles may greatly increase the efficiency of mining production and improve human safety. Recent results in mobile robotics, data fusion and sensor development provide a solid basis for solving the problems related to autonomous underground navigation. Recently developed commercial systems mostly rely on the infrastructure that is expensive and difficult to maintain. Guideless navigation in unstructured and harsh environment of underground mines is still a challenging task. In this paper, we describe an autonomous navigation system for an underground mining vehicle equipped with on-board dead reckoning, inertial and optical sensors. This system does not require any artificial infrastructure and is capable to guide the vehicle along the complex environment of interconnected underground drifts; it also ensures the detection of obstacles on the vehicle path. The user interface for monitoring and control is described and the results of laboratory tests and on-site experiments are presented. Work in progress addresses the system integration for real equipment, and the system upgrade, adding map-building and selflocalization capabilities .

May 1, 2002