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By Roberto Pena, Cristhian Morales, Darwin Morales, Veronica Cambiaso

"This article makes evident the shortcomings of the current operation of oxygen pipes as well as the damages they cause and why they cause them. When focusing on the causes and effects of these drawbacks, it was possible to develop a new family of thermal lances that could pierce a taphole with the precision of a drill but with the capacity to complete the whole operation. Although efforts have been made to replace oxygen pipes since they are annoying, dangerous and inefficient, nobody had worked to improve the way the traditional oxygen pipe taps/perforates the furnaces and reactors tapholes. In fact, developments made in drills and robotic arms, have failed to replace the oxygen pipe, which despite their negative side effects have been used for more than a century. Observation and theory were key to radically transform this humble tool into a dependable and efficient support in the operation. A good news that it is worthwhile to share for the benefit of all of us, passionate about the world of pyro metallurgy.INTRODUCTION Normally, reports and papers prepared for conventions, symposia or other technical events related to metallurgy aim to relevant topics in the operational field, probably because in them lay the scale economies every company pursues. We intend to give relevance to a matter normally disregarded in operations, but that unmistakably vital: if the furnace or reactor cannot be bled, the pyrometallurgical process will not be completed. Besides, if the tapping task is difficult or is long delayed, the availability of the furnace will be reduced. Consequently, there will be a waste of energy and workers will be exposed to dangerous levels of radiation as well as to work overload and physical injuries Apart from these basic effects, in tapping operations where oxygen pipes are used, we can see serious damages in the smelting furnace, especially in the taphole components such as refractory bricks, taphole jackets and water cooled plates. This paper intends to show that taking care of the tapping task can significantly upgrade not only to the tapping operation itself, but also the whole plant productivity."

Jan 1, 2017

By J. V. Thirgood

"Reclamation legislation was introduced in British Columbia in 1969 amidst public concern and controversy. This paper reviews this legislation as it relates to coal mining, and how it is being implemented.Although the principles of land reclamation are reason-ably well understood, reclamation of industrial wasteland has never previously been attempted under such rugged conditions as occur in the Canadian Rockies and a new methodology is being developed.The resolution of the technical and organizational problems involved are discussed and the techniques and experiences described."

Jan 1, 1971

By F. R. Archibald

Introduction It is the purpose of this paper to review the subject of roasting as preparation of refractory gold ores and concentrates for cyanidation, with particular reference to operations at the mill of Beattie Gold Mines (Que.), Ltd., Duparquet, Quebec. Two earlier papers relating to the Beattie roasting operations are cited as background to the ? present discussion, and more general reference is made to other publications relating? to geology and metallurgy at Beattie. The Beattie roasting plant was built in 1937 as an addition to the existing flotation and cyanidation plant to permit complete processing of the ore at the mine property. Previously, the flotation concentrate had been cyanided, yielding 70 per cent of the gold values, followed by re-flotation of a concentrate from the cyanide residue. This re-floated residue was shipped to a smelter for recovery of gold values unavailable from direct cyanidation. The roasting plant itself is of interest through application in its design of multiple-hearth roasters and a Cottrell plant for separate recovery of dust and arsenic. In the laboratory and plant studies that accompanied development of the plant into a dependable and efficient working unit have been found principles and ideas applicable to other roasting 'problems. Before enlarging on these aspects relating particularly to the Beattie problems and plant, brief consideration is given to roasting in general.

Jan 1, 1949

By R. Walker

This paper deals with the selection and design of a belt conveyor handling steam coal between a mine and a barge loading terminal, and extending for some 5 ¼ miles over some of the most rugged terrain in the state of West Virginia, U.S.A. After a thorough analysis by consulting engineers and the owner's engineers, a single-flight cablebelt conveyor was chosen as representing the alternative of greatest reliability and lowest over-all cost. The value analysis and design features of the system are covered in this paper along with an updated report on the performance of the system since its start-up in the spring of 1969.

Jan 1, 1971

By A. Grimod

The European Guideline ETAG 027 - 2008 (?Guideline for European Technical Approval of Falling Rock Protection Kits?) defines the procedures to test rock fall barriers. Nowadays, this guideline is essentially the only test and construction framework utilized by manufacturers and it is also starting to enter in the mentality of designer who can clearly specify the performances of rockfall barriers. ETAG 27 (and the related European Technical Approval and the CE marking) represents a milestone for the rockfall barrier market, because it gives the possibility to compare the performances of different fences and it ensures the quality of the certified product. For these reasons ETAG 27 presently constitutes the base for tenders all around the world. Although rockfall barriers are in common use, designers and consultants do not have a clear overview of the real performances and the technological limits of these structures. The first problem can be solved using ETAG 27 criteria, which allow designing rockfall barriers at ultimate and serviceability limit state. Even though ETAG 27 uses crash tests performed with the Service Energy Level (SEL) and Maximum Energy Level (MEL), design with these concepts is not obvious or in common acceptance. Some preliminary questions must be solved. When can these energy levels be correctly applied? In the case of rockfall simulations, what probabilistic approach must be used for the evaluation of the barrier? Unfortunately ETAG 27 does not give any information or tests relating to the technological limits of the fences. Therefore some important questions arise. How do the site specific aspects of installation affect the barrier performance? What is the behaviour of the barriers under extreme conditions? And finally, the main question lies in the background: what is the functional reliability of ETAG 27? All of the above questions require comprehensive answers, which is consistent with the experience of designers, installers and producers. Officine Maccaferri S.p.A., with its 130 year experience in the field of rockfall protection, collected a large number of case histories with barriers impacted by single or multiple blocks, debris flows, and snow avalanches. Throughout these case histories and in accordance with a recent Italian standard code, it has been possible to implement a reasonable design approach that considers the efficiency of the barrier, the uncertainties of the input data, and the fore

Aug 1, 2013

By A. Romero, M. Carvalho, D. L. Millar

"The number of underground mines replacing diesel by battery powered mobile equipment is growing worldwide. The latter produces locally zero emissions and less heat, improving air quality in the working areas, and can potentially reduce energy costs due to lower ventilation requirements and in the face of higher fuel prices. However, there is a lack of systematic approaches to evaluate the potential economic benefit of switching from diesel mobile technologies to electric ones. This paper presents a method to answer the question of whether a mine with known operating conditions should invest in battery-powered electric equipment to reduce its total costs. Furthermore, this method provides the optimal number of electric and diesel equipment in relationship with their impact on the ventilation system and the total costs of running the mine from the energy perspective. A case study of an underground mine in Northern Ontario (Canada) is presented to validate the method proposed. The scenarios studied include the specific climatic conditions of the region, and the possibility to use heat recovery for the ventilation system. Overall, results show that the use of electric mobile plants is cost competitive, especially so when electricity cost can be lowered through load-shedding strategies.INTRODUCTIONOf the multiple advantages of using electrical vehicles (EV) underground in mining, the potential increase in air quality and comfort is the most significant (Paraszczak, Svedlund, Fytas, and Laflamme, 2014). Until recently, fully battery-powered electrical underground heavy duty machinery (i.e., loaders or trucks) were not available, so that tethered and trolley assisted vehicles were the only electric alternatives to diesel powered vehicles (Bétournay et al., 2011). Today, several commercial battery-based alternatives are available (General Electric Fairchild, 2015; RDH Mining Equipment, 2015; Paraszczak et al., 2014). Operational details can be found in Ewing (2015). The main battery technology used (Lithium Iron Phosphate, LiFePO4, or LFP) was already anticipated in Bétournay et al. (2011) as a good candidate for these types of vehicles. More details on these batteries, along with state of the art and future perspectives can be found in Zubi, Dufo-López, Carvalho, and Pasaoglu, (2018)."

Jan 1, 2019

By G. M. Carr-Harris

"THE SUBJECT of permanent molding has received a great deal of attention in the technical press as illustrated by the many excellent articles in the bibliography which follows. In general, this covers the period 1940-1958 and is merely representative of what is available. Numbers in •brackets refer to items in the bibliography.It may be desirable at the outset to give a few definitions covering those terms directly related to this subject. The following is a definition of permanent-mold casting as given by J. W. Meier in a paper, ""The Non-Ferrous Metals and Alloys"", read before the Ottawa Valley Chapt.er of the American Society for Metals:""Permanent Mold Casting is used where a large number of castings of the same part are required and higher mechanical properties, greater density and closer tolerances are essential. Since metallic mold s are very expensive, the number of castings must be sufficient to, defray, at least partially, the added expense. Molds are usually made from a good quality cast iron, 1but other mold materials, such as the aluminum and copper alloys, graphite, ceramics, etc., are being used in certain cases. Important factors in permanent mold casting are the mold temperature; the proper mold dressing; and, as in all other casting methods, the mold geometry, that is to say, the design of spruces, gates, risers and vents""."

Jan 1, 1960

By B. van Beek, T. Goff, P. Gebski, P. Szyplinski, W. L. Ying

"Monitoring the refractory lining integrity is essential to assure the safety of the operators and to determine the remaining campaign life of a furnace. Early detection of refractory lining degradation is essential to avoid sudden furnace failures and prevent unscheduled shutdowns. In the mid-1990s a stress wave propagation technique was developed and since then it has been utilized by Hatch Non-Destructive Testing (NDT) Group to evaluate furnace linings. For the last 17 years the AU-E technique evolved in terms of hardware, software and signal acquisition and interpretation. Most importantly, based on more than a decade of commercial applications, an extensive database of various failure modes, refractory deterioration trends and material properties has been created. This knowledge base is an integral part of AU-E which progressed from a NDT technique towards a comprehensive approach for furnace condition monitoring. All of the improvements introduced over the last several years have greatly improved the accuracy of the measurements. The data analysis process has also become more time efficient making the critical results available to the furnace operators in a more timely manner. Today the AU-E technology is used on a variety of process vessels in non-ferrous, glass, chemical and iron and steel industries.In this paper we are reviewing the available techniques for furnace refractory lining measurement and discussing the pros and cons of each method. The need for continuous improvement and development of new techniques for refractory monitoring is also emphasized. Finally, we are presenting a number of case studies and comparisons between the physical verifications and the AU-E measurements."

Jan 1, 2015

By Melvin S. Taylor

The environmental control program at Cassiar Mine is an active one involving government, unions and company personnel all working together to achieve a goal- "A clean and safe working environment". This can only be achieved by utilizing three of Cassiar's most important resources; i.e., people, time and money. Past environmental programs have more than proved that the goal can be reached and. with the future programs now in progress. Cassiar Asbestos will achieve its environmental goals.

Jan 1, 1978

By B. Calver, D. J. M. Farnsworth

"As open-pit operations expanded at Pine Point, hydraulic aquifer evaluation was undertaken to establish the criteria necessary for the design of a feasible dewatering system.The extreme climate of this northern location dictated that the ore zone under extraction be rendered as dry as possible to minimize freezing effects. The design and implementation of such a system necessitated detailed hydraulic evaluation, and the problems that occurred are typical of those inherent in open-pit mining operations in northern areas.The paper describes the problem solution as approached from a mine engineering point of view, with particular reference to the practical aspects of operation and installation. The hydrological analysis used is simple and readily applicable to most open-pit dewatering problems."

Jan 1, 1969

By L. B. Hale

"Introduction This paper will discuss the current operations of Westar Mining Ltd. and give a brief history of the company and of the Crowsnest Pass area. Westar is an integrated company involved in mining, processing and marketing coal from its mines in southeastern British Columbia and shipping coal from Westshore Terminals at Roberts Bank, located just south of Vancouver, B.C. It is two-thirds owned by the B.C. Resources Investment Corporation and one-third owned by the Mitsubishi Corporation of Japan and a consortium of Japanese coal consumers. Operations in southeast British Columbia consist of four coal mines and two processing facilities (Fig. 1). The Elkview Coal Processing Plant near Sparwood, B.C. receives its raw coal from Balmer operations (Harmer open pit), Balmer South (Panel 6) an underground hydraulic mine, and Balmer North an underground room-and-pillar mine. The fourth mine, Greenhills, an open-pit operation, is located near Elkford, B.C. and has its own processing plant. The Balmer mining and processing complex is the largest metallurgical coal facility in Canada producing up to 7 .5 million tonnes of clean coal per year. The Greenhills operation, completed in mid-1983, has a capacity of 2.8 million tonnes. The high-grade metallurgical and thermal coal produced is primarily for export markets. The major customers are Japan, Korea, Brazil, Pakistan, Chile and Taiwan.Our coal and that produced by other mines in Alberta and British Columbia is shipped to the international markets through Westshore Terminals Ltd., a wholly-owned subsidiary. Westshore will have an annual capacity of 22 million tonnes of coal and accommodate ships of up to 250,000 dead weight tonnes by 1984 when its current expansion program is completed."

Jan 1, 1985

By G. Reuben Yourt

THIS paper is chiefly a description of the improvements in dust control chat have been brought about in the assay office grinding room at Wright-Hargreaves. The fume exhaust systems are briefly included because they also are important to the health of the employees. There are three chief factors which determine the efficiency of a dust control system: First, the amount of time and thought spent in designing it. Second, how close! y it is kept up to date with the growth of the plant-a system that is adequate for the number of machines operating when it is installed may fall short of fulfilling its purpose as the plant expands. Third, unless someone is held directly responsible, a system is likely to get out of repair and gradually lose its efficiency-this can easily be detected by regular dust surveys. In designing the present system at Wright-Hargreaves, the object kept in mind was to reduce the dust concentration of all operations to a safe limit, chat is, well under 300 particles per cubic centimecer of air. By doing this, a condition would be attained chat would make it possible to discontinue the use of respirators, which at best are not very comfortable and do not remove all of the hazardous fine-dust particles.

Jan 1, 1941

By J. Budac, J. Dennett, D. Mayne, P. Nawrocki

"The Nickel/Cobalt operation in Fort Saskatchewan, Alberta has successfully used an oxidative ammonia leach process to refine a variety of feeds into high quality nickel and cobalt products for over 60 years. Fundamental changes to the refining process were made when the major feed was converted from nickel concentrate to cobalt rich mixed sulphides in the early 1990s. Since the early 1990s, the production capacity of the refinery has expanded to match increases in both mixed sulphides and other feeds. In addition to increasing the production capacity of the refinery, other changes have been required in order to improve the operability and reliability of the refinery as well as to deal with increasingly stringent safety and environmental requirements. This paper describes recent changes at the refinery including changes to the flow sheet, improvements in unit operations, incorporation of new feeds, management of byproducts, and control of impurities.INTRODUCTION The Cobalt Refinery Company (Corefco) plant in Fort Saskatchewan processes nickel-cobalt mixed sulphide intermediate produced at the lateritic nickel mine and high-pressure acid leach (HPAL) facility in Moa Bay, Cuba. Both operations are jointly owned and operated by Sherritt International and General Niquel of Cuba. The mixed sulphide, along with other feed materials, is processed at the Fort Saskatchewan refinery using a pressure ammonia leach-hydrogen reduction process to produce nickel and cobalt metal. This refinery was originally constructed in 1954 to treat nickel concentrate from Sherritt’s Lynn Lake mine in Manitoba. (Benson and Colvin, 1964; Boldt and Queneau, 1967; Forward, 1953; Forward and Mackiw, 1955; Kerfoot, 1989) From the mid-1970s until the early-1990s, the facility operated as an independent refinery, treating nickel-bearing feeds from around the world. The flowsheet was changed in 1992 to address the increased cobalt content of the feed. (Cordingley and Krentz, 2005; Kerfoot and Cordingley, 1997) The flowsheet was adapted further in 2009 to improve cobalt speciation in the leach process, which allows better cobalt-nickel separation. The 2009 iteration is shown in Figure 1. Three ammonia leach stages were used to ensure high recoveries of nickel and cobalt. Underflow solids from the final leach stage contained mainly iron oxides. One of the features of the leach process is the innovative recycling of ammonia. Ammonia vented from the leach process in tail gas and from atmospheric tanks is recovered and recycled into the refinery using water based scrubbers and a high pressure distillation process. Indeed, roughly 250 t NH3/d is recovered as distillate and recycled back into the process. Also, air enriched with ammonia which is vented from the later first stage autoclaves is recycled to the lead first stage autoclaves to maximize oxygen and ammonia utilization."

Jan 1, 2017

Building block cave operations involves significant commitments to capital and time before arriving at completion or full scale production. The focus of the mine planners is habitually to minimize the upfront capital and achieve target development rates and construction dates. However, management of the construction of block cave projects requires understanding of the strategic/tactical decisions that the project planners can take to increase the value of the project and cope with schedule risks. As block cave projects involve development of vertical and lateral access to the underground footprint and ore body, more attention to uncertainties is required as most of those projects need to confront delays leading to a decrease in value. The standard process of development and construction scheduling is often not planned with provisions to realise uncertainties in the construction phase. Uncertainties and risks such as poor ground conditions and equipment breakdowns are the primary reasons for schedule slippage. As a result most of these projects experience delays. In order to mitigate risk to the project schedule, we centre our attention on increasing the value of the project by spending more money upfront and improving the schedule rather than focus on minimizing the upfront capital. Scenario-based simulations along with project appraisal methods hold great promise to address those challenges and enable mine planners to make better decision and enhancing project value. This paper will present a hybrid simulation based approach to model the process of development and construction based on discrete event (DES) and continuous based simulations (CBS). Such simulations will be conducted for scheduling multiple development headings (Apex, undercut, extraction, and haulage levels). Two scenarios are utilized to investigate the impact of risks on schedule and how flexibility in construction can be incorporated to minimize delays: (1) The bench mark scenario is created based on actual data from an existing case study. (2) The flexible scenario is an alternative way to use primary production infrastructure (Ore Handling System) including conveyer drifts, conveyer belt, and a gyratory crusher in the construction process and that requires the system to be in place before starting lateral development in the footprint. As a result, a truck-load system versus a conveying system will be studied to observe the gain in construction speed and to estimate the premium cost for mucking rock from headings and drawbells and transporting it to surface. Such strategic flexibility would be part of the original budget to make the tactical flexibility available during construction. Continuous cash flow models are used to evaluate and compare the scenarios. This study is an example of how new techniques in planning can be used to support decision-making processes in block cave design.

Aug 1, 2013

By J. W. Craig

CHROME ore, which is used in Canada in the production of ferro-alloys, in a variety of refractories, and indirectly in many chemical industries, is both commercially important and scientifically interesting. The sight of chromium metal is familiar to all of us in the home, the office, the automobile. Chromium is synonymous with armaments: it is understood to be one of several essential metals in tanks, which played an important role in the defeat of France in the spring of 1940. Chromium, in other forms, comes into our daily lives by way of paint and leather, of the familiar green ginger-ale and beer bottles, and more indirectly in every pound of steel produced in the .Dominion. Necessary to our civilization in peace and war, the ores of chromium occur in many corners of the earth. This paper attempts to describe the chemical constitution of chrome ores, their world distribution, and the various chrome products and their industrial applications in Canada.

Jan 1, 1940

By M. Turek

Cost management in the conditions of increasing competition and unforeseen market turbulence constitutes one of the key areas of the enterprise?s activity. In the last two years the demand for hard coal on the domestic and global market of non-renewable resources has increased significantly. Polish hard coal mining industry, as an industry in the stage of decline, received a chance for rejuvenation. However, one of the most significant conditions of seizing this opportunity is the rationalization of mining costs and improvement of production effectiveness. Due to the significance of this issue, the main objective of the paper is to identify the possibilities of improving the production effectiveness in the hard coal mining industry. In order to meet such an objective, in the first part of the paper we measured effectiveness in the Polish hard coal mines in years 2006- 2011. The research encompassed three out of five mining enterprises operating in the country. Then based on the received results, guidelines concerning the improvement of effectiveness of production were created, taking into consideration infrastructural, technical, economic and organizational determinants. Furthermore, opportunities and threats for improving the production effectiveness, stemming from the external conditions have also been indicated.

Aug 1, 2013

By Robb. V. M., F. Walraven, L. J. Robb

"Abstract -The old Albert Silver Mine is a polymetallic deposit comprising concentrations of Cu­ Pb-Zn-Ag-U-F within a set of sub-parallel quartz-hematite veins which occur within the fine-grained apical phase of the 2050 Ma old A-type Bushveld granites. Mineralization occurs as an early pyrite­ chalcopyrite-arsenopyrite-galena-sphalerite-(argentiferous) tetrahedrite paragenesis followed by a later, more oxidized assemblage comprising chlorite-hematite-fluorite-pitchblende. Accumulation of metals appears to have taken place at the interface between a coarse-grained porphyritic granite and an overlying fine-grained phase: veins occur in the latter and represent leakage of magmatic fluids from the differentiated, water-saturated, subjacent granite.Mineralization processes in the Bushveld granites are believed to be related to long-lived circulation of dominantly magmatic fluids stimulated by the high heat productive capacity of the host rocks. Endo- and exogranitic tin-tungsten and base metal mineralization formed during an evolving hydrothermal system that lasted for several hundred million years, forming innumerable small- to medium­ scale polymetallic deposits. At the Albert Silver Mine, unroofing of the cover sequences at circa 1600 Mato 1700 Ma resulted in the incursion of lower-temperature, high-f02 meteoric fluids which remobilized the earlier sulfides and introduced the paragenetically late U-F mineralization ."

Jan 1, 1994

By Anton Gronningsater

AT the present time we hear a great deal about organization of labour, collective bargaining, workmen's councils, and company unions; about C.1.0. with its principle of vertical unions and A.F.L., largely based on craft unions; and about provincial and federal laws for protection of labour's right to collective bargaining. What we perhaps hear too little about is corresponding organization of the employers, although it recently is mentioned more frequently. I will only mention W. H. Davis, Chairman of the United States War Labour Board, who has had and is having plenty of experience in this field and has also studied labour conditions in Europe-in Sweden for instance. He has repeatedly expressed the opinion that where employer-employee problems are involved, a thing badly needed in America is organization of employers as well as employees to get some order in the present chaos. With this I agree. I believe a strong organization on one side necessitates a correspondingly strong organization on the other side; that has at least been the experience in the industrialized countries in Europe. I happen to be fairly familiar with conditions in Norway, where they have struggled with these problems for fifty years, and a talk on the history, development, and present state of employer-employee relations in that country might perhaps be of interest as giving a general picture of the development of such relations in the northwestern European countries as a whole. The talk was originally given to the Fourth Year students in Mining and Metallurgy at the University of Toronto. I have changed it somewhat to fit a different audience, but I hope you will make allowances if you now and then are reminded of the school auditorium. I will try to be as objective and factual as possible, but it is probably unavoidable that some of what is said is coloured by personal opinion.

Jan 1, 1943

By N. O. Lotter

The connection between mineralogy and metallurgical performance in a plant was recognised long ago (Gaudin, 1939; Petruk, 1976; Petruk and Hughson, 1977; Cabri, 1981; Petruk and Schnaar, 1981; Kinloch, 1982; Peyerl, 1983, Baum et al 1989 for example). The modern toolbox that we now routinely use for flowsheet development took decades to develop (Lotter et al., 2002; Baum and Lotter, 2004; Lotter, 2011 for example). Many workers contributed considerable time and effort to this overall mission of connecting sampling, mineralogy and mineral processing to integrate the flowsheet development activities. Certain key milestones marked this journey, such as Gy’s treatise on the sampling of particulate materials in 1979, which was later added to by François-Bongarçon, Pitard, Minnitt, and Holmes for example. The development of QEM*SEM by Gottlieb et al. of the MLA by Gu et al. constituted a huge leap forward in accuracy and mineral measurement capacity, as well as a reduction in standard errors of mineral characterisation. The advancement of the microprobe to an automated platform made a significant difference to detailed compositional mineralogy. This led to a strong position from which to draw meaningful processing implications from the mineralogical data. Reproducible flotation testing and reliable plant survey material for characterisation was dealt with by, amongst others, High Confidence Flotation Testing ( Lotter, 1995: Runge, 2010, and Bradshaw, 1997); and Statistical Benchmark Surveying (Lotter, 2005), with earlier prototypes which were steadily improved (Lotter, 1994; Restarick, 1976). The sterling work of Napier-Munn in engaging sound statistical methods with mineral processing led to the successful design and use of methods that could identify and quantify small recovery gains in plant scale trials. This history and present capability are reviewed, including leverage into asset management.

Jan 1, 2018

By Loui Geoffroy, Philippe Gaultier, Martin Piotte, Claude Coache, André Drouin

"Automatic driving at high speed of an underground truck was tested at Brunswick mine in September 1995. Modifications to the truck included: a remote interface to control actuators, front and back video cameras to follow a roof mounted optical guide and proportional hydraulic controls on the steering.The mathematical model of the hydraulic system was adjusted using least square regression. The steering data, used in calculating the regression parameters, were acquired from the moving truck. The automatic steering control used three measured variables: lateral deviation, angular deviation and steering angle. Lateral deviations are obtained using the cameras, which are in continuous view of the guide, while steering angles are acquired from an extensiometer placed at the articulation point of the vehicle. Gain scheduling was used to compensate for vehicle speed and available hydraulic flow. Non-linear characteristics of the modeled hydraulic system were offset using open loop compensation.Speeds up to 23 km/h in forward direction and 13 km/h in reverse were achieved deviaduring continuous testing along one of the mine’s production drifts. Proportional steering was essential in achieving high speeds, as it enabled more precise positioning of the vehicle’s steering direction while reducing the abuses on cylinder and cylinder pins via diminished oscillations about the optical guide at high speeds."

Jan 1, 1997