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By N. Mao

This paper presents the results of a research effort to develop a technique for estimating in situ stresses by measuring stress-induced velocity anisotropy around a borehole. Relevant parameters required to make the estimate were identified and measured in the laboratory on a 35.6 cm (14.0 in) cube of Nugget sandstone with a 10.2 cm (4.0 in) diameter hole, under biaxial loading. Two pairs each of radially and tangentially polarized transducers were placed inside the hole with displacement directions either parallel or perpendicular to the principal stress directions. With this configuration, relative travel times were measured by both a pulsed phaselocked loop technique and a cross correlation of digitized waveforms. The biaxial velocity data were used to back-calculate the applied stress. The standard deviation of the differences between the calculated and applied stresses is 0.62 MPa (90 psi) for a stress level up to 8.63 MPa (1250 psi).

Jan 1, 1984

By S R. Green, G D. Corder

The legacy issues from mining can, and have often, extended well beyond the closure of operations. However, conventional cost-benefit analysis provides little incentive to implement initiatives at the project development stages of a new mining project as the costs that will be incurred towards the end of the mine life, 20 years or longer, appear minor in net present value (NPV) terms. This analysis can be misleading as the true costs of managing post-mining land can continue for many years, or decades, after mining ceases and any resulting unfavourable legacy issues can delay or prevent government permits or licences to develop new resources. Proper upfront planning is critical for implementing successful rehabilitation and closure strategies. The investment in this planning needs to be done in a structured and rigorous manner taking into consideration the long-term and broad benefits of sustainable land uses after mine closure. The advantages of such an approach could include the streamlining of regulatory approvals by early advice to the regulator of identified issues and responses to those issues, and clear evidence that a strong social licence to operate ethic with local, regional and national benefits is included in the decision-making process. This paper investigates the potential closure options for two case studies at the early stages of project development - concept and prefeasibility. By using a sustainability framework that can identify opportunities and risks, prospective initiatives that deliver enhanced environmental, community and social benefits will be compared with compliance-orientated approaches. This comparison is made across the Five Capitals Sustainability Model - natural, human, social, manufactured and financial. The results of this analysis demonstrate that upfront planning during project development and due care and effort during the life of the working mine will reduce the risks of long-term detrimental legacy issues. This will ultimately benefit the mine operator, the local community and the state.CITATION:Corder, G D and Green, S R, 2012. Using a sustainability assessment framework to achieve enhanced legacy outcomes, in Proceedings Life-of-Mine 2012 , pp 311-318 (The Australasian Institute of Mining and Metallurgy: Melbourne).

Jul 10, 2012

By G. H. Glos

There was a time when an occasional failure of a tailings embankment was considered an acceptable risk associated with mining activities. This is not the case anymore. A major tailings failure today could result in the indictment of mine officials, huge fines and a possible site closure due to the loss of operating permits. As a result of this changed operational environment, tailings disposal facilities must be operated with these potential consequences in mind. Physical controls for tailings embankments are prohibitively expensive. However, the nuclear industry has developed a system of administrative controls as an alternative to physical controls. Administrative controls may be defined as control of actions, through organizations and management, using written procedures, record keeping, review and audit to assure operation of a facility in a safe manner (10 CFR 50). Administrative controls can reduce the cost of operating tailings impoundments, as well as increase the level of confidence in these facilities.

Jan 1, 1999

By J Bresnahan, D Kepert, R Murray, R Neroni

Stratigraphy of the Hamersley Province in Western Australia, featuring alternating units of banded iron formations and shales with contrasting electrical properties in a mostly gently undulating shallow-dipping layered geometry, is particularly favourable to airborne time-domain electromagnetic mapping techniques. Manipulated vertical cross-sections of modelled conductivity obtained from laterally constrained one-dimensional inversion of SkyTEM304 data enable the exploration geologist to interpret weathering profiles, shallow-dipping stratigraphy and steep structures, all of which are crucial aspects of bedded iron ore deposits genesis models.The Cobra Project is located 14 km east of the NNW-trending Menindee Fault Zone, which defines the western margin of the Hamersley Province, Western Australia. The region comprises an extensive plateau of Brockman Iron Formation cut by a series of horst and grabens with a regional dextral strike-slip component. The 150° striking horst and grabens and associated 060° striking conjugate faults have approximate frequencies of 400 and 2000 m, respectively, and control the bulk of the iron mineralisation. Syn to late 150° trending dykes in part intrude the faults.In the Cobra region, elucidating the structurally dislocated stratigraphy without closely spaced drilling is very challenging. Geological mapping is hindered by the paucity of mappable stratigraphic markers within the banded iron formations and kinematic indicators. Airborne magnetic and remote sensing data sets highlight the dense lineament network, but provide limited assistance in quantifying relatively small apparent displacements, or distinguishing faults from dykes with reasonable confidence.Interpretation of modelled conductivity cross-sections generated from laterally constrained one-dimensional inversion of airborne electromagnetic method (AEM) data offers invaluable insight where the quality of mapping or drilling is wanting. Subsequent targeted field checking and infill drilling validated the geological model interpreted from the integration of these data sets.The AEM technique alone cannot decipher the complex geological environments often present in the Hamersley Province but can facilitate effective iron ore exploration by focusing precious field time and assisting structural and stratigraphic interpretations in areas with sporadic and shallow geological data.CITATION:Murray, R, Neroni, R, Kepert, D and Bresnahan, J, 2017. Using airborne electromagnetics to solve a structurally complex geological puzzle in the Hamersley Province, Western Australia, in Proceedings Iron Ore 2017, pp 269–276 (The Australasian Institute of Mining and Metallurgy: Melbourne).

Jul 24, 2017

By J. Shang, P. Howarth, B. Morris

Tailings from the nickel refinery in Copper Cliff, Ontario, consist of fine silicates mixed with a variable amount of conductive and magnetic minerals mainly associated with sulphides and iron oxides. Subsequent oxidation of sulphide- rich phases within the tailings results in the formation of an acidic leachate that may contain significant concentrations of trace metals. Mapping the spatial distribution of regions of higher sulphide concentration therefore provides insight into the distribution of the acidgenerating potential within the tailings. Electrical conductivity is constrained by two parameters — the concentration of metallic sulphides and the ionic concentration of acid in groundwater. Magnetic susceptibility is directly related to the pyrrhotite and magnetite content. It is proposed that combining information derived from airborne electromagnetic and magnetic surveys can provide an indication of metallic sulphide distribution. Preliminary investigations of airborne electromagnetic and magnetic data acquired concurrently over the sulphide-rich Copper Cliff tailings site reveal that these parameters can provide information on mine tailing extent and permit separation of tailings with varying compositional and alteration levels. Airborne geophysical data provide information about the subsurface while a digital elevation model (DEM) and hyperspectral imagery record surface conditions. Integration of the two data sets can reduce ambiguity when interpreting mine tailing distributions and their subsequent alterations.

Jan 1, 2001

By Douglas D. Reynolds, Tarek Deeb, Qunli Liu

Landmines are a great threat to military vehicles and their occupants. Mine blasts can completely destroy vehicles and kill all the occupants or disable the vehicle and leave the occupants severely injured. Injuries sustained during a landmine blast come from fragmentation that enters the vehicle through a hull breach, hot gasses expanding through the vehicle, or shock created from the extreme pressure of the blast (Lafrance, L.P. 1998). Mitigating the high acceleration experienced by the occupants during survivable mine blasts is the focus of the research being addressed in this paper. Method The objective of the project reported in this paper was to prove the feasibility that pneumatic seat technologies that employ light-weight, foam-filled, inflatable air bladder seats and seat backs can be used to protect the crews of lightweight combat vehicles against the detrimental and injurious effects of mine blasts. This protection includes reducing the shock energy experienced by seated vehicle crews during mine blast initiation and at vehicle slam-down to below potentially injurious levels. Figure 1 shows a schematic representation of the proposed lightweight, foam-filled, inflatable mine blast attenuating seat. It will consist of specially designed interconnected seat and seat back lightweight, foam-filed, air bladders that are supported by a rigid frame. [ ] Results Air gun tests and finite element analyses were conducted to determine the effectiveness of a light-weight, foam-filled, inflatable air bladder seat shock isolation system in isolating a vehicle occupant from the injurious effects of a mine blast. Figures 2 through 5 show analytical and experimental results associated with a 65.8 kg mass resting on an inflatable air bladder that is exposed to a shock input.

Jan 6, 2006

Provide the mining industry with a simple, accurate and readily available means of measuring the gas flow from pipe outlets such as gob holes Approach The Bureau of Mines conducted laboratory studies to establish correction or method factors for anemometers when used to measure gas flow from pipe outlets. Using the Anemometer Anemometers are used by the mining industry to make air velocity measurements in mine entries. Although the instrument has no appreciable influence on the airstream in mine entries, especially since the cross-sectional area of an entry is much larger than the cross-section of the anemometer, correction or method factors are used to correct the center line anemometer velocity to average velocity. This adjustment is made because the air velocity in a mine entry is highest in the center and lower at the sides. Anemometers can be used to measure gas flow from small diameter pipe outlets; however, since the instrument diameter is much larger than one-sixth of the pipe diameter, it will influence the air-stream from these small outlets. Resulting velocity measurements are erroneously high by as much as 30 percent. Method factors must be applied to such anemometer measurements taken at pipe outlets. Through a research investigation the Bureau of Mines established a set of method factors for center-line anemometer readings taken at the discharge end of 4-to 8-inch diameter pipes. These method factors were combined with method factors which were developed by the National Coal Board of Great Britain for 12-to 30-inch diameter pipes. The anemometer was mounted on the end of a short rod and held against the pipe for support except on the 4-inch pipe where the instrument was started and stopped remotely to prevent hand interference with the air-stream during measurements. Method factors were determined by comparing the anemometer measurements at the pipe outlet to the true average airflow which was simultaneously determined upstream by venturi measurements. Consequently, a method factor is nothing more than the ratio of the true velocity to an anemometer measurement.

Jan 1, 1987

By Dennis Wilzbacher, John Wiegand

In an effort to reduce the cost of bulk explosives, Vigo Coal Company found that the addition of coal mined at their Friendsville Mine, not only reduced explosive costs, but also appeared to actually enhance blasting performance. The Friendsville Coal lies at the base of the Mattoon geologic formation within the Mcleansboro Group of the Missourian Series of the Pennsylvanian Geologic System in Southern Illinois. Vigo Coal Company commissioned VIBRONICS, INC., an independent blasting consulting company to quantify actual blasting performance. Insitu sonic velocity testing of overburden was conducted to determine the P-wave velocity of the sandstone present at Vigo’s Cypress Creek Mine, where the initial testing was conducted. Numerous VOD (velocity of detonation) recordings were obtained for varying blends of ANFO/Coal (now named Carbo*Prill). Cast blast percentages were determined for both Carbo*Prill and non coal blended bulk explosive blasts. The VOD of the coal blended product was intentionally reduced so as to more closely match the P-wave velocity of the sandstone overburden. Explosive blends containing as much as 40-50 percent coal were tested. Explosive blends containing greater than 30 percent coal, have been used in Cypress Creek Mine overburden production blasts. The coal blends appear to produce better fragmentation and yield excellent cast blast performance. Safer mining conditions were also observed. Flyrock potential was reduced. The blasts produced less back break, producing a safer highwall. Stripping dozer and shovel production rose during the testing period and equipment repair costs were lowered due to an increase in overburden fragmentation. Blasting vibrations were reduced, in part due to the lowered detonation velocity of the ANFO/Coal mixture. The Friendsville Coal Seam appears to contain inherent chemical and physical properties that enhance blasting performance. The use of Carbo*Prill has been approved by MSHA, BATF, the State of Illinois, and the State of Indiana. This paper will provide details concerning testing procedures, blast performance analysis, recommendations and conclusions for using this alternative blasting mixture.

Jan 1, 2007

By A. Yazadni-Chamzini

Maintenance strategy selection plays a significant role in mining design. The nature of maintenance strategy selection is a complex multi-criteria decision making (MCDM) problem including both tangible and intangible parameters which are often in conflicting with each other. Moreover, when decision makers are uncertain in determining and defining the ratings and the weights of alternatives and criteria respectively, fuzzy theory provides an appropriate tool to handle the existing uncertainties. In this paper, a new fuzzy MCDM method based on the concepts of TOPSIS and AHP was proposed to evaluate the feasible maintenance strategy. The linguistic terms are employed to assess the ratings and weights. Fuzzy AHP is utilized to calculate the weights of the evaluation criteria; then, the rankings of alternatives are computed based on fuzzy sets theory and TOPSIS. A real world case study is presented to illustrate a potential application of the proposed model.

Jan 1, 2012

By E. Fahrenkrog, D. Sbartaro, E. N. Cifuentes

An intelligent supervisor using expert system tools and applied to a crushing plant has been developed with a structure based on a model of a human operator. It consists of a knowledge base containing a qualitative model of the process and a rules base with the heuristic logic used by an operator when supervising a plant. The simulation results obtained show the potential of this type of system to supervise the automatic operation of a plant. There has been very significant development in artificial intelligence over the last two decades. Within this development, two approaches can be distinguished, (Winston, 1984). The "model approach," in which the main objective is to understand and model the be¬havior of living systems. The second approach is the "engineering approach." Here, systems capable of performing tasks usually requiring human intelligence are created. As part of this latter approach, knowledge engineering and its main achievement, expert systems, have been developed. Expert systems arose from the need to incorporate the abilities of a human expert in solving realistic problems in which the conventional approach has great difficulties. The first successful applications of expert systems were in medical diagnosis, geophysics, and fault detection. However, since 1971, when Fu (1971; defined intelligent control as the inter action of artificial intelligence and automatic control, some significant developments in the use of artificial intelligence tools for process control have been achieved (Astrom, 1986; Pinto 1988; Fahrenkrog, 1988; and Porter 1987). The modern control theory has made important advances. And, although successful in some applications, it has failed to cope with the practicalities of many industrial processes. As a result, the automatic operation of a plant has been confined to a small region around a normal operating point and to periods without any great disturbance. One of the main reasons for this is the lack of accurate and structured knowledge of the processes involved. Despite this, operators applying their knowledge, experience, and a little intuition, often obtain good results controlling the plant in such situations. Considering the above, the next obvious step is to include similar reasoning capacities in a computational system. The development of such an expert supervisory system prototype applied to a mineral crushing plant is presented. Problem description The problem is to conceive a control system with the ability to handle quali-

Jan 1, 1989

By G R. Hancock, M J. Saynor, J B. C Lowry, K G. Evans, M Narayan

Tools such as landform evolution models (LEMs) provide a means of predicting how a landform may evolve over extended periods of time. Here, we utilise the CAESAR-Lisflood LEM to assess a proposed rehabilitated landform of the Ranger Uranium Mine in the Northern Territory of Australia (Figure 1). The environmental requirements for the closure of the mine state that the final landform must be able to physically isolate tailings material from the environment for a period of at least 10,000 years (Australian Government, 1999). However, uncertainty exists as to the reliability of model predictions representing thousands of years.In this study, we use model predictions from an undisturbed pre-mine landform to calibrate the parameters used in model simulations of a post-mining rehabilitated landform over a simulated period of 1,000 years. Specifically, we vary environmental conditions such as rainfall, presence/absence of vegetation and surface particle size characteristics in a series of model simulations to determine their impact on the respective landforms, to revise model input parameters as required. A simulated period of 1,000 years was used as it represents a period in which long term landform evolution patterns and trends may be established and identified. CITATION:Lowry, J B C, Narayan, M, Evans, K G, Saynor, M J and Hancock, G R, 2018. Using an undisturbed landform to calibrate long-term predictions of the evolution of a rehabilitated landform, in Proceedings Life-of-Mine 2018, pp 133–137 (The Australasian Institute of Mining and Metallurgy: Melbourne).

Jul 25, 2018

By Saeed Karimifard, Saman Nouranian, Shahram Tafazoli, Bahram Sameti, Frank Chu, Caitlin McKinnon, Tetiana Konstantynivska, Glen Turner

Continuing blast optimization is the cornerstone of any mine-to-mill approach, and particle size analysis is a key metric for meeting blast targets to reduce overall energy consumption and operating costs. To ensure the statistical validity of particle size data, it is important to sample material frequently. In most mines and quarries, the blasted material is loaded onto haul trucks and then transferred to the crusher; measuring the particle size of each haul truck load therefore provides an adequate sampling rate. We propose a particle size analysis solution for haul trucks that does not impact current operational workflows. Using artificial intelligence (AI) and 3D imaging technology, our solution reliably localizes and identifies haul trucks as they drive by, then accurately calculates the particle size distribution of the visible material in each truck load. In this paper, we identify the challenges of designing and implementing the proposed solution and explain the strategies we employ to overcome these. We also discuss a method for boulder detection that leverages the existing deep learning architecture to significantly reduce crusher downtime caused by oversized rocks. Finally, we present field data from a trial installation. To evaluate each change made to the blast design, it is necessary to measure the effect on particle size. An accurate particle size analysis solution is therefore the first step towards optimizing blasting practices and reducing energy consumption throughout the comminution circuit.

By Saeed Karimifard, Saman Nouranian, Shahram Tafazoli, Bahram Sameti, Frank Chu, Caitlin McKinnon, Tetiana Konstantynivska, Glen Turner

We propose a particle size analysis solution for haul trucks that does not impact current operational workflows. Using artificial intelligence (AI) and 3D imaging technology, our solution reliably localizes and identifies haul trucks as they drive by, then accurately calculates the particle size distribution of the visible material in each truck load. In this paper, we identify the challenges of designing and implementing the proposed solution and explain the strategies we employ to overcome these. We also discuss a method for boulder detection that leverages the existing deep learning architecture to significantly reduce crusher downtime caused by oversized rocks

Feb 1, 2020

By Jose Alberto Gonzalez, Said Sharif Mahboob, Jeffrey L. Shepherd

"During the industrial electrowinning of zinc, uneven growth can cause short-circuits and make the deposits more sensitive to the presence of impurities that can significantly impact current efficiency. To produce levelled zinc deposits, additives such as glue, licorice and sodium silicate are often added to the electrolyte. Even in the presence of additives, uneven zinc growth still takes place because of the combination of hydrodynamic and electrolysis conditions in the cell house. Recent advancements in imaging spectroscopy and scaling analysis have opened an avenue to further study the effects of additives on zinc growth morphology. In this study, Atomic Force Microscopy (AFM) and scaling analysis have been used to monitor zinc growth characteristics including roughness, periodicity, aspect ratios and growth mechanisms as a function of electrolyte composition as well as deposition time. Zinc was electrodeposited from an industrial electrolyte containing a host of additives onto an aluminum cathode with a platinum wire serving as the anode. AFM images of the samples were collected to obtain 3D topographical information on which scaling analysis was performed to extract details on root-mean-squared (rms) roughness, periodicity (grain size), aspect ratio of surface features and growth mechanism. This analysis provided information on the mechanism by which the previously mentioned variables can impact short term growth and also provided a prediction of expected growth at long deposition times.INTRODUCTIONElectrowinning is one of the final stages in the industrial production of zinc metal. It is during this process where dissolved zinc ions undergo electro-reduction from an acidic electrolyte onto an aluminum cathode and are later recovered by stripping the zinc metal from the substrate. However, due to the nature of zinc growth as well as the various operating conditions, zinc deposition may occur unevenly, sometimes causing short-circuits that can cause electrode damage and reduced zinc production."

Jan 1, 2016

By Ava Segal, Doga Cagdas Demirkan, Abhidipta Mallik, Sebnem Duzgun, Andrew J. Petruska

Search and rescue operations in mining heavily rely on humans. In the context of emergency situations within underground tunnels, the potential to utilize sensory technology for navigation assistance holds the promise of saving human lives. Our research introduces a device configuration designed to enhance the performance of search and rescue teams. This setup integrates LIDAR and thermal cameras with the Microsoft Hololens, facilitated by the NUC computer and ROS Bridge. Performance assessment involves quantifying the extent to which a user is willing to venture into a light-deprived section of the mine prior to necessitating supplementary illumination. The preliminary outcomes highlight the significant potential of augmented reality assistance in offering indispensable aid to first responders, thereby greatly augmenting the efficiency of search and rescue missions conducted during critical circumstances.

Feb 1, 2024

By Brian Lightfoot

Ausmelt technology is a versatile bath smelting technology with application in many waste treatment fields at low capital and operating cost. Heavy metals extracted from wastes may be recycled to mainstream use and the slags produced will be inert and suitable for use as aggregate, shotblasting grit or other applications.

Jan 1, 1994

By Keith Cramer

As a leader in the development of metal extraction technology, Avecia continues to pioneer advancements for the processing of copper through leach, solvent extraction, and electrowinning of copper. From the initial patent of the second generation of oxime 5- nonylsalicylaldoxime in the 1970's; to the effective use of modifier technology; and development of computer assisted modeling programs, Avecia is driving SX technology to maximize extraction productivity. Keys to consider when advancing productivity are: 1) high quality, high performance products; 2) a responsive, partnering approach to technical service; and 3) tools to aid in the education of industry wide technical personnel with a view on continuous improvement. The focus of this paper is on the advancement of tools to aid in the education for optimization of processing copper through solvent extraction. One such tool is Avecia's own customized solvent extraction modeling program called MEUM. MEUM is currently used world wide to analyze plant operations, test ideas for improving operations, assist engineering companies in design, and to teach basic solvent extraction concepts. Recently MEUM has also been incorporated into a University setting. In the spring of 2000 Avecia worked with the University of Melbourne to integrate MEUM into their Mass Transport tutorial class. Students completed exercises to evaluate how operational changes affected a solvent extraction plant's performance. This paper introduces the basic functions of the program and discusses the successful implementation of MEUM into the University of Melbourne curriculum.

Jan 1, 2002

By T Trott, G Lumley

"The mining industry suffers from a shortage of professional and other workers. Research and analysis has demonstrated a close correlation between high performance in productivity, maintenance and safety. There is also a significant correlation between engagement and performance. It is the hypothesis of the authors that mines can use a strategy of establishing themselves as a high-performance mine to attract and retain high caliber professional people: step 1 is to become best practice in equipment performance (productivity, maintenance and safety) step 2 is to brand the mine as æbest practiceÆ by sharing what has been confidential performance and outcome information with the general industry.Previous research has shown that many professional people are attracted by the prospect of a high achieving site because of the learnings and the support for continually doing better. In addition, a link has been established in previous research between productivity and safety. Operators and drivers are attracted to sites which have fewer dangerous people operating or driving. Good management delivers exceptional performance and a work site which high caliber managers and operational personnel people want to work at. The strategy requires commitment and proper execution but it can work. The strategy needs a specific approach and this paper will discuss this. A case study is provided from a mine which over a nine month period increased dragline performance by 15 per cent and reduced stress on the boom by 30 per cent. This mine paid the employees (professional and operational) $25 000/a less than the major mines but the operators and professional people would not leave; in fact, people were happy to be paid less to work there.CITATION:Lumley, G and Trott, T, 2012. Using best practice operations as a strategy for attracting and retaining professional people, in Proceedings International Mine Management 2012, pp 35-52 (The Australasian Institute of Mining and Metallurgy: Melbourne)."

Nov 20, 2012

By G Morgan, C Kemp

In December 2010, a trial of borehole radar technology was conducted to test the usefulness of the technique in better refining the position and geometry of narrow vein orebodies away from the primary data sources of drilling and mapping of development excavations. This paper summarises the reasons why the technique was applied, describes the testing methods selected and summarises the outcomes of the trial.Poor reconciliations of recovered metal from a section of an orebody at Jundee mine site, Western Australia, led to an investigation that identified insufficient understanding of the geometry of a narrow vein orebody as a potential cause. This orebody was situated between mapped development excavations and away from surrounding drill holes. Borehole radar was identified as a possible technique that could supply information on vein location and continuity away from other data sources allowing more accurate orebody modelling and subsequent stope optimisation.A borehole radar instrument (10 - 100 MHz frequency) was inserted into pairs of purpose-drilled boreholes on either side of relatively well-constrained mineralisation and the radar reflection data was collected. This process was repeated in five locations across the mine to represent the most common geological settings, lithologies and orebody varieties encountered at Jundee to determine the suitability of applying the technique in each of these settings. Collected, processed and interpreted radar data was compared to other geology data collected independently for verification and interpretation.Conclusions drawn from the analysis were that the technique could effectively determine the following features of the mineralised veins in the majority of test environments: geometry of veins, magnitude of offsets where structures intersect and orientations of planar structures with short strike length. The technique was very useful in selecting the appropriate structural interpretation where available data could lead to multiple, equally likely, interpretations.CITATION:Kemp, C and Morgan, G, 2012. Using borehole radar to refine orebody interpretations in a narrow vein gold deposit, in Proceedings Narrow Vein Mining 2012 , pp 121-130 (The Australasian Institute of Mining and Metallurgy: Melbourne).

Mar 26, 2012

By X. Shi

This paper presents design and implementation details of a fuzzy-behavior-based controller for an automated excavator. The robotic excavator is equipped with sensors, actuators and an embedded control system. The excavator controller uses neural-networks to interpret forces and torques gathered during the excavation process from bucket-mounted force sensors. Implementation details card experimental results using the fuzzy-behavior-based excavation controller are given for several excavation tasks. These excavation tasks demonstrate some of the complex skills that are essential for an autonomous mining-excavator controller.

Jan 1, 1997