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By U. Storck

"Shaft sinking for exploitation of the deep potash beds in Saskatchewan involved great difficulties from the very first because of the need to exclude from the shaft the high-pressure water encountered in the overburden. Control of the troublesome Blairmore quicksands was achieved relatively quickly by use of the freezing method and by lining with cast iron tubbing. The unsolved problem remained, however, of sealing the water-bearing Devonian where the formations had extremely low permeability and were thus hard to grout. Long experience in German potash mines had shown that the permanency of the whole mine would be seriously endangered if large amounts of unsaturated salt water were allowed to flow in from the shaft wall and merely removed by pumping. The prevention of water movement and the resulting dissolution of salt in the overburden were known to be most important. In the Alwinsal shaft, water flow from the Devonian has been prevented by the use of a steel and concrete sandwich lining similar in principle to a kind of lining introduced a few years earlier, and for another reason, in German coal shafts. As its installation is neither more expensive nor more time consuming than that of cast iron tubbing lining, this same lining was also chosen as protection against the Blairmore quicksands. The great advantage of the steel lining, in addition to its relatively high strength, is the fact that it is possible to make the joints of the individual segments absolutely and permanently water-tight by means of tested welds. The virtual dryness of the Alwinsal shaft will also result in lower costs because significant corrosion of all its steel installations, including skips, cage and ropes, will be prevented."

Jan 1, 1968

By M. Board, R. Pakalnis, S. Seldon, R. Brummer

The Kidd operation mines roughly 10 000 tpd of copper and zinc ore from underground and employs about 700 personnel. In the late summer and fall of 1997, major movements in the proximity of the east wall of the Kidd open pit had been observed. The Kidd pit had been mined from 1965 to 1977 to depths of 260 m (850 ft), followed by subsequent mining by underground methods to current depths in excess of 1830 m (6800 ft). The No. 1 Mine (2600 Level to pit bottom) is approximately 90% extracted, with most of the remaining reserve between 2000 and 2500 levels. Although initial concerns centred on the stability of the pit walls, the potential ramifications of the movements to the underground were recognized and measures were implemented to ensure the safety of personnel as well as to minimize the potential damage to existing operations. In late October, damage to underground operations was observed as deep as the 2000 Level. In the final assessment, the global mobilized mass was a “wedge”-shaped hangingwall block extending from surface to about 610 m (2000 ft) below surface. The “wedge” boundaries are defined by a fault and shear zone which have continuous lengths in excess of 1070 m (3500 ft); its base by shearing through the host rock mass; and its eastern face by deep tension cracks (Fig. 1). Mined and filled excavations at the western face of the “wedge” allowed mobilization of a mass in excess of 30 M tonnes. Movements in excess of 75 cm (30 in.) per day were recorded on the surface stations that preceded the complete shutdown of operations on October 29, 1997. The evaluations in the days following the shut-down were centred on mitigation of immediate and future possible negative impacts on infrastructure and mining of the remaining No. 1 Mine reserves while ensuring the safety of the operators. This effort required the rapid assessment of the potential damage of the block movement on underground infrastructure, stope access, drainage and ventilation, as well as airblast potential due to the falling of a large block into the pit near the ventilation intake at the base of the pit. These assessments were presented in a previous paper (Seldon et al., 1999). In total, the lateral movement of the block on the ground surface was over 4.3 m (14 ft). This paper describes the detailed studies performed to understand the failure mechanism and to assess the impacts on future mining in No. 1 Mine.

Jan 1, 2000

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 J. E. Ryan

General Description Due to the extreme cold weather experienced in Flin Flon during the winter months, thought and precaution were necessary in the design of the plant buildings. The machine shop, carpenter shop, drill shop, and coal plant buildings are similar in the building materials used in their construction. They are sided with two-inch shiplap, insulated with celotex and asbestos paper, and covered with corrugated iron on all side-walls. Roofing consists of 2 by 4 lumber on edge, laminated, and further covered by celotex and three-ply roofing. These buildings are heated by means of unit heaters. The heaters are primarily steam-heated radiators, through which the air of the buildings is circulated by electrically-driven fans. Our machine shop is located to the east of, but central to, the main operating buildings of the mine and plant, and is so connected by a net work of tracks as to be able to serve all portions of the entire plant conveniently. The building is divided into two bays, the main bay 53 ft. by 340 ft., and the east bay 24 ft. by 340 ft. The shop office and drafting room, a two-story annex 24 ft. by 30 ft., is located on the west side of the shop. The arrangement within the shop is such as to house conveniently the several departments, namely, heavy machine tool section, repair floor section, boiler shop heavy tool and floor section, blacksmith heavy tool and forge section, tool room, electric welding rooms, stock room, tin and copper shop, and electrical parts and armature winding and repair shop (see Figure 1). All the heavy tools, the repair floor section, and railway tracks are so located in the large open bay as to be fully serviced by an electrically operated 15-ton bridge crane, with a span of 50 feet and a travel the full length of the shop. A standard-gauge railway track, branched off the main line, penetrates the full depth of the building. This track lies along the extreme east side of the main bay, allowing easy entrance and movement of rolling stock and heavy machinery, loaded on standard flat-cars, to the repair floors in the main bay. Eight jib cranes, affixed to building columns, further facilitate the heavy repair work throughout the various shop divisions. Our light and heavy machine tools are standard equipment, not unlike tools used in mine, mill, and railway shops.

Jan 1, 1935

By J. C. O'Rourke

"This paper presents an overview of Alberta Oil Sands Technology Research Authority's in situ oil sands recovery project at its underground test facility near Fort McMurray. It covers the rationale for horizontal wells drilled from tunnels below the oil sands, the tunnel layout, the drilling program, and the recovery process and facilities. INTRODUCTIONThe Alberta Oil Sands Technology and Research Authority (AOSTRA) has constructed an Underground Test Facility (UTF) in the Athabasca oil sands deposit in northern Alberta, approximately 50 km northwest of Fort McMurray (Fig. 1). The facility initially is to serve as an underground laboratory from which to field test new approaches to in situ recovery of the bitumen (oil) in the Athabasca deposit.The UTF employs mine access to get at the effective exploitation of an oil reservoir. It does so, however, under conditions considerably more difficult than those faced by most other applications of the technology. Because of the unconsolidated nature of the McMurray formation, the development of drilling chambers directly in the reservoir would be prohibitively expensive. Further, mobilization of the extremely viscous bitumen requires intensive steam stimulation with the attendant concerns of large, complex well completions and potentially hazardous operations Over-all, the oil sands presents mining, drilling and operations challenges which push the technology to a new state-of-the-art. The UTF as it now exists consists of:• a 20 000 ha lease with all-weather road access;• 925 m of 5 m by 4 m tunnels in the limestone 15 m below the oil sands at roof depth of 178 m below the surface (Fig. 2);• two 3 m diameter steel lined shafts to a depth of 213 m;• administration and sur face mine support facilities from which to operate the UTF (Figs. 3 and 4);• underground piping systems to transport drill fluids, steam, produced fluids and services to and from the future well heads underground (Fig. 5);• surface steam generation and production handling facilities (Figs . 3 and 4).• a drilling rig and auxiliary systems specifically designed to drill long horizontal wells into the oil sands from tunnels in the underlying limestone (Fig. 6);• an experienced staff to engineer and operate the facility (Fig. 7)"

Jan 1, 1989

By T. G. Joseph, M. Bolster, M. Curley

"High tirerim loading on haul trucks operating on rough ground frequently manifests as mechanical separations and rim base cracking caused by cyclic fatigue. This paper provides an understanding of the impact of high loads on rim component life and tire footprint, bulge, and deformation behaviour; and develops a maintenance planning tool to predict strain implications of high g loading for a given rim location. Loading tests and analyses were conducted for a tirerim arrangement under increasing load and internal tire pressure. Graphical models were developed, allowing higher g load extrapolation predictions for specific rim components.KEYWORDS g load, Mining, Model, Prediction, Rim, Strain, Tire bulge, Tire footprint, Ultra-class vehicleRÉSUMÉ L’application d’un chargement élevé sur le système pneu/jante de camions de transport rou¬lant sur des terrains accidentés se manifeste fréquemment par des séparations mécaniques et une fissure à la base de la jante engendrée par une fatigue cyclique. Cet article nous permet de mieux comprendre l’incidence de l’application de charges élevées sur la durée de vie des composantes de la jante ainsi que sur l’empreinte, la hernie et le comportement de déformation des pneus. Il développe également un outil de planification de l’entretien visant à prévoir l’incidence des contraintes en cas d’application d’un chargement g élevé sur un endroit donné de la jante. Des essais et des analyses de la charge ont été effectués pour un agencement pneu/jante soumis à une charge et une pression interne du pneu croissantes. Des modèles graphiques ont été développés, ce qui a permis d’établir des prédictions sur la base d’une extrapolation du chargement g plus élevé appliqué à des composantes spécifiques de la jante.MOTS CLÉS charge g, contrainte, empreinte du pneu, exploitation minière, hernie du pneu, jante, modèle, prédiction, véhicule ultralourdINTRODUCTION The purpose of this paper is to report on a proposed and trialed tire performance test based on data obtained from controlled testing that is used to predict the impact of high g loading on hauler rims and tires with greater accuracy. For example, for many years oil sand mining operations have expressed qualitative beliefs that an impact load of the magnitude experienced by a rim and tire arrangement is not detrimental to a rim as a stiff component; however, mining equipment components are subjected to cyclic loading where failure can result from repeated load/unload activity, truncating the peak region of a stress–strain response and resulting in fatigue failure at a stress value that is less than the peak value. The outcome reported by oil sand haul truck maintenance groups indicates they have realized that most high g impacts—such as those experienced by hauler tires and rims operating on poor ground conditions—can result in failure due to cyclic loading, where higher loads require fewer cycles for failure. This high-level loading and the resulting strain transmitted to the rim is evident in the results of the laboratory testing presented in this paper."

Jan 1, 2019

1 INFORMATIONS GÉOLOGIQUES ET PLANIFICATION MINIÈRE La notion de gisement exploitable s'appuie sur les connaissances de géologie, d'ingénierie et tablir la rentabilité en fonction des investissements requis, des coûts de production, et des revenus qui sont tributaires de la demande et des prix des marchés. C'est une notion qui est d'abord diffuse lors de la découverte et de la première délimitation d'un gisement "d'intérêt économique potentiel" mais qui doit se confirmer et se préciser par des travaux additionnels pour devenir de plus en plus quantitative et assurée. 1.1 Informations géologiques Les conditions géologiques varient d'un gisement à l'autre (forme, dimensions, attitude, concentration et continuité -litages, effets de pépites - de la minéralisation). D'autre part, chaque méthodes minière a des contraintes différentes quant aux possibilités de sélectivité d'une part, d'acquisition d'information additionnelle lors du développement de la mine d'autre part. Cette problématique a été résumée au tableau 1, modifié de Vallée et al. (1993) [tableau 5, CIM Bulletin, avril 93, p. 74.].

May 1, 2002

By J. C. White

"This paper was prepared for and presented at a lecture series on ""Materials Randling"" at McGill University. The development of trackless mining at Gaspe Copper Mines, Limited is described, showing the changes in mining method and the part played by the mobile equipment in the evolution of this highly mechanized underground operation. Comparisons of loading and hauling machines are given and an attempt is made to predict some possible future developments.INTRODUCTIONTHE PROPERTY OF GASPE COPPER MINES LIMITED is located in the Gaspe Peninsula of the Province of Quebec, 60 miles west of the village of Gaspe and 25 miles south of the St. Lawrence River. The original discovery of low-grade ore was made at Copper Mountain in 1921. Subsequent exploration revealed the richer Needle Mountain orebodies, and eventually in 1951 the decision was made by Noranda Mines to build the mining, concentrating and smelting complex (Figure 1). Construction and development of the mine was commenced in 1952 and production started in 1955."

Jan 1, 1968

By Celine Y. Zhang, Chloe J. Feng, Charles Q. Jia, Donald W. Kirk

Oil sands petroleum coke (OSPC) is a by-product of coking - a high-temperature process that converts the mined bitumen to the synthetic crude oil (SCO). For every barrel of the SCO produced, about 20 kg of OSPC are generated. Over 70 million metric tons of OSPC have been produced and stockpiled as a result of the development of oil sands industry in the past few decades. Unlike conventional petroleum coke, OSPC has uniquely high impurity contents, particularly sulphur (~ 7 wt%) and metals (e.g. vanadium at ~0.15 wt%), which has hindered its large-scale applications as a solid fuel. Vanadium is a valuable metal that is widely used as an alloy for strengthening steels. The stockpiled OSPC contains about 100,000 tons of vanadium, while the world’s production in 2013 was only 75,600 tons. At the current price of $25US/kg, the OSPC-bound vanadium represents a total value of $2.5 billion US dollars. In this work, we investigate the technical feasibility of extracting vanadium from OSPC. The work focuses on the characterization of vanadium in OSPC and the conditions for effective extraction of vanadium from the OSPC.

Jan 1, 2015

By T. G. Carter

"Tremendous progress has been made in recent years towards developing computational tools that allow ready solution of most common rock engineering problems, with amongst the most advanced of the tools focusing on evaluating engineered openings within Synthetic Rock Masses. These new codes have the potential to allow much more realistic design, but they must not be used without careful calibration – prior to – during and – post completion of any modelling. This paper explores some of the pitfalls of inadequate data collection and suggests more emphasis be given to calibration. Guidelines for minimum levels of parameter data are suggested for improving application of basic to sophisticated modelling codes.INTRODUCTION & BACKGROUNDTremendous progress has been made in recent years towards developing computational tools that allow ready solution of most common rock engineering problems. The degree of sophistication now possible with some of the available codes allows one to tackle extremely complex problems that were not thought tractable even a decade ago. Indeed, generation of synthetic numerical rock masses, based on discrete fracture network representations that closely mimic actual rock mass conditions, such as are shown in Figure 1, is today relatively straightforward, and not as user-challenging as employing state-of-the-art codes of even a few decades ago. This is largely because major improvements in computer graphics and in availability of ready-made user-friendly input-output interfaces have paralleled development of these new codes, now in some cases outpacing actual new analytical/procedure developments. This is something of a reversal from the first few decades of DOS-based rock engineering computational experience, when only rudimentary graphics were available and user-friendly input-output interfaces were virtually non-existent."

Jan 1, 2015

By S. H. Logan

Mr. B. Neilly: A week or so ago the Secretary was good enough to forward me an advance copy of this paper by Mr. Logan and it was suggested that I comment on it at this meeting. At that time I was not very certain that I would be here, so I committed my thoughts to paper. As a matter of courtesy to Mr. Logan, I sent him a copy of my proposed remarks and I would like to give you just what I sent to him. Appreciating fully Mr. Logan's ability and many sources of information, one naturally hesitates to question anything seriously set forth as his considered opinion. Neither does one of my political stripe like to accuse him of being too 'conservative.? However, in places his paper reminds me of another general manager of a Canadian bank. While I was still Secretary of the Ontario Mining Association, this general manager wrote asking for our forecast on the current year's mineral production, stating that he proposed to refer to such production figures in his annual address to his shareholders. The request was considered very complimentary to the Ontario Mining Association and, in my opinion, justified a great deal of serious study and effort. Finally, the estimate was prepared and forwarded, showing a modest increase over the previous year's total. Picture our surprise and chagrin on reading his address to find that he predicted not an increase but, if you please, a decline of over $10,000,000. Before I cooled off I wrote asking the basis of such a prediction and got a reply to the effect that men in his position had to be ultra conservative in picturing the future.

Jan 1, 1931

By Charles Kingsley

THE PRESIDENT (DR. C. B. KINGSTON, member C.l.M.M.) expressed regret that neither of the authors of the paper was able to be present to submit the paper in person. In their absence, it would be introduced formally from the Chair. It was a clear, straightforward account of a fine piece of shaft sinking, cleverly conceived and boldly executed. He referred briefly to the distribution and nature of the Dome ore-bodies and stated that, for both the miner and the metallurgist, the mine had provided a wide range of problems of unusual interest. Discussion on the paper was then invited. MR. THOMAS PRYOR said the paper was most opportune, because the subject of internal shafts did not appear to be fully treated in current mining literature. Many members were not familiar with Canadian gold deposits and it would be of interest if the authors could give a brief description of the location of the ere deposits of the Dome mine. This information would doubtless explain why a new internal shaft was needed in a position which required such an exceptionally long cross-cut to connect it to the main hoisting shaft to surface. It would also add to the value of the paper if the authors would give some idea of the duty expected of the new shaft in terms of tons of rock hoisted and of trips engaged in the transport of men and materials, and it would be helpful if figures could be given of the total capital cost of the hoists and subsidiary excavations at the shaft top, and of the cost per foot for sinking and lining the shaft below the collar. Turning to details of the paper, one was favourably impressed by the care given to the provision of a good travelling way for men in the main cross-cut, as shown in Figure 1. It was by no means always that one could walk in comfort and safety in a working where there was a 20-in. ventilating pipe in the roof.

Jan 1, 1939

By J. M. Ortiz, J. P. Bertini

"In mineral resource and ore reserve estimation, several sources of information are generally available, such as diamond drillholes, reversed-circulation drillholes, and blastholes, and originate from one or more sampling campaigns and are analyzed by one or more laboratories. In such a situation, the grade measurements may not have the same precision and one should distinguish between hard and imprecise data.This work aims at studying the impact of data imprecision in resource/reserve evaluation through two case studies on simulated deposits: a porphyry copper deposit conditioned to real exploration and production data, and a gold deposit simulated without any conditioning data. Several geostatistical techniques are used to estimate the grades of selective mining units from exploration samples, including kriging, cokriging, lognormal and indicator kriging. Two types of imprecision are examined— measurements with multiplicative errors and measurements defined as intervals. The results are compared to the simulated grades of the selective mining units from a statistical and economic viewpoint.The study concludes that imprecise measurements should never be discarded because they help to improve the estimates, and that simple methods such as kriging are as efficient as more sophisticated ones for resource/reserve assessment. Finally, a few indications on how to diagnose and model the data imprecision are given."

Jan 1, 2005

By Yves Breau, François Robichaud, Jacques McMullen, Pierre Pelletie

"The Expert System implemented at the East-Malartic mill controls a copper flotation circuit while taking into account the profitability of the operation. Treating a copper gold ore, the flow sheet integrates a flotation step followed by cyanide leach circuit. The Expert System calculates the actual net smelter revenue of the flotation circuit, accounts for the operating cost of the cyanidation circuit and defines optimal metallurgical operating targets to optimize the overall economics. To be realistic, probability factors and circuit diagnostic analysis are integrated in the operating target selection. The Expert System has proved to be successful, robust and flexible. It resulted in a copper concentrate grade increase of 1% while maintaining recovery. The use of the expert system also gives plant personnel good training procedures and promotes interaction with mill operator.INTRODUCTIONThe East-Malartic mill is located close to the town of Malartic in North Western Quebec, Canada. The mill was first commissioned in 1938. The flowsheet at that time was a straight cyanidation circuit. The original mill operated in that mode up to the discovery of the Bousquet 2 orebody in 1989 which consisted of a massive copper sulphide ore averaging 0.7% copper and 7 g/mt of gold. Bousquet 2 ore processing required a mill retrofit. Grinding capacity, gravity and copper flotation circuits were inserted prior to the cyanidation circuit in order to achieve 3,200 mtpd capacity at expected recoveries.In 1993, control of the flotation circuit was deemed critical in order to maintain the flotation performance and to reduce cyanide consumption since the copper sulphide contained in the Bousquet 2 ore is a high cyanide consumer (50% bornite). (McMullen, 1999) As a result, the implementation of advanced control strategies in order to increase the metallurgical profitability of the plant and to reduce the operating variability between operators was the most rational alternative. In 1994, Corem was chosen to perform the plant audit and to write the first set of rules. The on-line control strategy was started up in 1995. In 1996 and 1997 the Expert System was shutdown because of an extreme change in the ore coming from the milling of Bousquet #1 ore and the departure of the projects engineer. In 1998, the system was restarted and the results were impressive. Furthermore in May of 2001 a patent was issued for the control strategy. (Breau, 2001)"

Jan 1, 2002

By R. A. Nemchek

Over the years, concentrator plant design has evolved from a large number of small grinding mills to a small number of large mills. In many cases, all of the tonnage runs through a single mill (typically a large SAG mill), so that the plant?s performance hinges on the productivity of this one machine. Industry specifications attempt to address the critical nature of today?s grinding mills in a manner that is often overly complex, neglects economics, and is not clearly focused on the end user?s goals. This paper surveys current industry practices, and proposes an improved approach to standards writing recognizing that product design, procurement, manufacturing, and quality are all inter-related in contributing to a project?s success. The lessons learned here can be extended to specifications for all types of machinery.

Jan 1, 2012

By Elaine Ellingham, Francis T. Manns

"Abstract -The Orostar and Scadding were two small gold mines owned and operated by Orofino Resources Limited. Conventional statistical treatment indicates an identical arithmetic mean grade of 0.22 oz/T Au for both mineable reserves. Further, the deposits are both shown to have cut weighted average reserve grade of 0.21 oz/T. Orostar mined out at 0.206 oz/T and Scadding at0.156 oz/TAu . The combined exploration and development database contained 1394 fire assays, more than enough for statistical confidence in a normal distribution. Therefore this study was initiated to determine, if possible, why the mill head grades were lower than the averages and to experiment with several methods to determine whether a reliable statistical mill head grade estimation method would emerge. Despite the identical reserve grades, distinct differences in the grade distribution histograms are present. By studying the arithmetic and log-normal grade distribution s, with some attention to South African practices, this paper reports on those differences which may account for the considerable divergence in the mill head grades. Furthermore, this study casts considerable doubt on the industry standard method of cut weighted averages.The global mill head grades of the two deposits have been derived from the arithmetic average grades by graphic means. This precise method of mill head grade prediction, if applied to complex orebodies, could permit selective grade control and result in direct cost savings by allowing the operator to detect false value stopes, benches or levels and emphasize reliable regions of not only gold mines, but also uranium or base metal deposits."

Jan 1, 1992

By R. D. Hossack

"The selection of a site for plant facilities is a function of several factors and has as its objective the maximization of profits, given fixed markets and sources of raw material locations. In practice there are several sites, any one of which or a combination of two or more would be suitable to meet the basic requirements of source of supply of raw material and labour and still fulfill market demands. The model used to select the optimum profit combination utilizes both computer programs and traditional financial analysis techniques. Of the three computer programs used in the mode), one is a linear program and another is a transportation simulator. Basic cost and price data are required. In examining costs, three levels are used: (a) distribution costs of raw material to the plant and finished goods to the market; (b) direct production costs at the plant, such as labour and locally supplied material; and (c) capital and overhead costs at the plant, such as construction costs, taxes, insurance, and federal and provincial cost allowances. The direct costs generally depend on the scale of operations, so that a large plant in one location may have a lower unit cost than two smaller plants. This, of course, must be balanced against distribution costs. In examining profit, it is necessary to think in terms of the price and volume of sales at each of the market locations. Given basic data and relationships, the model can be used to optimally locate production facilities or, alter-natively, optimally structure a transportation network given existing locations of plants and markets. It is dynamic to the extent that it can react to changes in volume, price and cost to optimally locate an additional plant, the expansion of existing plants, the shutting down or cutting back of plants, or the restructuring of distribution networks."

Jan 1, 1970

By E. Onal, C. Craddock, A. Chapman, M. R. Endsley

ABSTRACT Mining equipment operators must interpret and respond to complex information delivered by technology-centric rather than user-centric systems. The ability to achieve high situation awareness (SA) in the face of this data overload is a key challenge to effective decision-making and information exploitation. Incidents attributed to human error that compromise safety and result in loss of revenue, or even life, are often the result of system designs that overload human cognitive capabilities. This paper defines SA as it relates to the operation of mining equipment and describes the design and preliminary evaluation of a new electric shovel operator user interfa

Jan 1, 2013

By G. J. McTeer, D. L. Verhelst, D. J. Rioux

Teck Metals Ltd. operates an integrated zinc-lead complex at Trail, British Columbia, Canada. Since 1997, KIVCETTM flash smelting technology has been utilized for the treatment of zinc plant residues and lead concentrates. Trail Operations’ furnace uses four water-cooled jackets for bullion tapping. This paper provides an overview of KIVCET bullion tapping for the past 16 years, and discusses successes and challenges encountered with respect to operations, training and monitoring.

Jan 1, 2015

By V. Polotski

Initiated and financed by the Canadian Space Agency, Micro-Rover Platform with Tooling Arm (MRPTA) project has targeted the development of a robotic system with remote control and autonomous navigation capabilities for testing a large variety of analogous planetary missions. Although developed for planetary exploration, the navigation system is highly suitable to such areas of application as construction and in mining. Autonomous navigation system is capable of moving the platform to predefined position(s)/orientation(s) while continuously mapping the terrain, assessing its traversability and choosing most appropriate path to follow. Designed according to the JAUS (Joint Architecture for Unmanned Systems) framework, the system consists of several interconnected components. Following components are of particular importance: Pose Estimator (PE), Terrain Evaluator (TE), Map Manager (MP), and Path Planner (PP). The PE uses a minimal sensor configuration consisting of an azimuth gyroscope, inclinometer and wheel odometry. The PE provides reliable pose estimates in spite of pronounced slippage by employing extensive use of fused data. The TE uses a nodding laser scanner which continuously sweeps the area in front of the platform and constructs a ?traversability grid? (TG) of the surrounding area. Multiple TGs are constantly constructed along the platform motion path are combined into a terrain map maintained by the MP. The PP uses this map to compute a motion path Obtained path is executed by the motion controller and remains current until it is contradicted by the most recent map ? at which point it is re-planned. This paper addresses integration issues, lessons learned and also outlines the possible applications for construction and mining.

Aug 1, 2013