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By W. J. Young, K. B. Macneill, C. N. Smith

"A BRIEF HISTORY OF THE MURRAY BROOK MINERAL DEPOSITDuring the mid-1950's intensive exploration activity in northern New Brunswick followed the discovery of the world class Brunswick base metal deposit. Using the prototypes of modern airborne geophysical and geochemical exploration techniques many mineralized areas in the Bathurst-Newcastle area were quickly identified. This base metal - silver camp is situated within the metavolcanic - metasidementary rocks of the Tetagouche Group which forms a roughly circular caldera-chaped voloanio complex of Ordivician age.One of the early results in the exploration history in the camp was the discovery of the Murray Brook Deposit by Kennco Explorations, (Canada) Limited. During routine ground checking of geophysical anomalies, most of which turned out to be graphitic schist, the discovery of some copper bearing float was made by the exploration team. This encouraged the company sufficiently to carry out a regional stream sampling program which lead to a large anomaly associated with a hematitic gossan. Diamond drilling of a weak Slingram anomaly over the gossan zone resulted in the discovery of massive sulphide lenses. This was followed in 1956-7 with an intensive drilling program. The result was the delineation of a potential ore body containing an estimated 23 million tons with an overall grade of 0.44% copper, 0.86% lead, 1.95% zinc, 25.73 g/tonne (0.91 oz/ton) silver, 0.28 g/tonne (0.01 oz/ton) gold. Within this package were higher grade zones of copper and lead-zinc mineralization approaching ore grades.A thick blanket of gossan was present and is reported to have caused the drillers considerable trouble as they attempted to penetrate it to get to the underlying sulphides. The gossan, consisting of iron oxides and silica fragments sits on top of the massive sulphides and attains a remarkable thickness of 45.5 meters (150'). Early work had suggested that the gossan was enriched in gold and silver. If this were the case and if the precious metal could be leached out with cyanide, then mining and recovering those values might be economic.With this in mind Northumberland Mines Limited optioned the property from Kennco in 1985. Preliminary leach tests indicated that indeed the gold in particular leached readily. Subsequent drilling of the gossan (using triple core barrel technology for better recovery of the easily ground core) indicated 1,536,363 tonnes (1,690,000 tons) with an average grade of 1.05 g/tonne (0.037 oz/ton) gold and 42.13 g/tonne"

Jan 1, 1993

By M. C. Furerstenau

Adsorption behavior of various surfactants on sulfide minerals is very much affected by the nature of the surface of the mineral. Since sulfides are naturally meta-stable, oxidation occurs when they are exposed to air, especially in aqueous environments. As a result. oxygen assumes a major role in sulfide flotation. Mechanisms of adsorption of various thiol collectors on sulfide minerals have been reviewed. The electrochemical behavior of various sulfide minerals has also been reviewed. Flotation behavior of galena, chalcocite, sphalerite, pyrite, chalcopyrite and pentlandite has been presented together with the. flotation of copper sulfide- nickel sulfide ore.

Jan 1, 1993

By C. Patrick

Longwall face-to-face transfers can cost over $100 per minute in lost production potential and $100,000 for personnel and supplies. Such high cost makes extensive planning and control of the transfer process a critical necessity for the economic feasibility of longwall operations. This paper reports operations research techniques used for the analysis and modeling of longwall face-to-face transfers. Transfer data has been collected from companies who operate over 30% of the total U.S. longwall faces. Comprehensive sequence networks of existing longwall transfers were developed; simulation models of transfers under varying conditions were generated; and, the economics of general transfers and time-cost tradeoffs in the transfer procedure were investigated.

Jan 1, 1993

By Susan T. Bagley, Kenneth L. Rubow, David H. Carlson, Bruce K. Cantrell, Winthrop F. Watts

Permissible exposure limits (PELs) have been established for gaseous pollutants, carbon monoxide (CO), carbon dioxide (CO2), nitric oxide (NO), nitrogen dioxide (NO2), and some gas-phase hydrocarbons emitted in diesel exhaust. There is, as yet, no PEL recommended for diesel exhaust aerosol (DEA), nor is there a standard method for sampling this aerosol. The University of Minnesota and the U.S. Bureau of Mines have collaborated to develop a personal diesel exhaust aerosol sampler (PDEAS) which utilizes size-selective inertial impaction and gravimetric analysis. During the field tests of this sampler, numerous air quality measurements were made in underground coal mines that use diesel equipment. The mine mean DEA concentrations for the five mines surveyed, determined with the PDEAS in the haulageway, was 0.89 mg/m3 with a standard deviation of 0.44 mg/m3. DEA contributed 52 % of the respirable aerosol at this location. In three of the mines filter samples were collected for DEAassociated polynuclear aromatic hydrocarbons (PAHs) and biological activity determinations. Two of the mines were also monitored for the major gaseous constituents found in diesel exhaust. In general, the PAH and biological activity levels were similar for all three mines, and indicate that up to 25 % of the haulageway concentrations may be contributed by outby diesel vehicles. Measured concentrations of CO, C02, NO, NO2, and SO2, were well below regulated levels. INTRODUCTION Diesel exhaust contains pollutant gases, such as carbon monoxide, carbon dioxide, nitric oxide, nitrogen dioxide, and gas-phase hydrocarbons, as well as DEA. Much of the health-related concern focuses on DEA and associated organic compounds (Watts, 1992a). A wide variety of these PAHs have been identified and some are known carcinogens and/or mutagens. The U.S. Mine Safety and Health Administration (MSHA) has proposed new PELs for these and other contaminants (MSHA, 1989). MSHA has also published an advance notice of proposed rulemaking to establish a separate PEL for diesel particulate (MSHA, 1992). The U.S. Bureau of Mines has collaborated with the University of Minnesota to develop and field test a PDEAS. The PDEAS is a three stage sampler based on the MSA' personal respirable dust sampler. It utilizes a respirable cyclone preclassifier followed by a 0.8 µm cut point impactor and afterfilter operating at a flow rate of 2 L/min. Respirable aerosol greater than 0.8, µm in size is collected by the impactor while DEA, less than 0.8 µm in size, is collected by the afterfilter. Hence, gravimetric analysis of the afterfilter permits measurement of DEA concentrations. This development and laboratory evaluation of the PDEAS were described previously by Cantrell (1990) and Rubow (1990). During field tests of the sampler, numerous air quality measurements were made in continuous miner sections of five underground coal mines that use diesel haulage equipment. These air quality measurements included levels of selected PAH and biological activity associated with DEA collected in the intake and haulageway areas of three of the five underground mines, and CO, CO2, NO, and NO2 in two of the mines. The objectives of this paper are to present the DEA and associated pollutant concentrations measured in these mines and to assess the impact of diesel face-haulage equipment on underground mine air quality. MINE DESCRIPTIONS The mines used for the PDEAS evaluation were designated J, K, L, N, and 0. Mines K, N, and 0 are located in the Western United States, while mines J and L are located in the East. Each mine produces high volatile, bituminous coal with shift production levels varying from 500 to 2000 tons/section. Seam heights varied from 1.5 to 3.0 m. Mines K and N use continuous mining to develop longwall panels. The others are strictly room-and-pillar operations using continuous miners. The number and types of diesel-powered vehicles used at these mines were described by Watts (1992b). Mines J, K, N, and 0 use diesel power to assist in a wide range of activities in addition to coal haulage. These included road maintenance, personnel and materials transport, lubrication, and welding. Mine L used only three diesel-powered shuttle cars to haul coal. SAMPLING AND ANALYSIS METHODS Aerosol Measurements Aerosol samples were collected in the mine portal area, the clean air intake to the continuous miner section, the haulageway one crosscut inby from the feeder breaker and belt, in the return airway, and on selected personnel. The haulageway sampling site was located near the point where the diesel-powered shuttle cars turn around to dump their loads. Additional respirable and DEA samples were collected and have been reported by Haney (1990).

Jan 1, 1993

Amax Coal Inc. Colowyo Coal Company Continental Conveyor & Equipment Company Crane & Hoist Sales Cummins Southwest, Inc. Energy West Mining Company Paul J. Epley The Falkirk Mining Company Fleischli Oil Company T. J. Gundlach Machine Company Halbach & Braun Hemscheidt Corporation GH Hensley Ingersoll Rand Jennmar Corporation Joy Technologies K & P Sales Engineers, Inc. Kennametal, Inc. Kerr-McGee Coal Corporation L & H Welding McLanahan Corporation National Coal Association The North American Coal Corporation Northwestern Resources Company Peabody Western Coal Company Phillips Machine Service, Inc. Pincock, Allen & Holt The Pittsburg & Midway Coal Mining Co. Ramsey Technology, Inc. Roberts & Schaefer Co. Rust Tractor Company Salt River Project Schroeder Industries Smith, Barney, Shearson Snowmass Resort Association Southern Pacific Lines Stamler Corporation TerraMatrix TIC (The Industrial Company Wyoming, Inc.) Trapper Mining Inc. Wagner Equipment Company Western Energy Company Wheeler Machinery Company

Jan 1, 1993

By Zamel G. I, Zenari L. P

Technological developments in modem Tunnel Boring Machines (TBMs) and associated back-up equipment are offering significant alternatives for mining operators to consider, in the selection of equipment for coal mine development drifts, roadways, longwall gate roads as well as metalliferous mining declines and development drives.Greater flexibility in handling variable ground conditions, muck disposal and radius of turn as well as advance rates, are just some of the areas where modem TBMs can accomplish the flexibility that mine operators require to achieve cost-effective developments.Compact TBMs are achieving this acceptance because of the fundamental design of a shielded machine containing electrics and hydraulics within the forward shell, ability to achieve tight radius of curvature and grades, and ability to provide highly flexible support systems to meet all possible ground conditions.However, a single TBM design will not suit all mine developments, as each development method - while having common goals with all mine developments - will also require certain unique criteria to be fulfilled.

Jan 1, 1993

Planning for the Macraes Extension project highlighted the need for additional tailings storage availability. The possible solution of developing new tailings impoundments in Northern Gully, in tum, led to concerns being expressed by the regUlatory authority over the assimilative capacity of Deepdell Creek. Philosophical differences over the appropriateness of applying a seepage model used to set standards in consents for the original project resulted in the company re-evaluating the whole monitoring system associated with tailings disposal and seepage control. Re-evaluation indicated problems arising from the existing in-stream water quality monitoring in respect of protection of the aquatic ecological system and verifiability of results. A new monitoring system was designed relocating the compliance monitoring point out of the stream and into the gully containing the tailings impoundments giving greater certainty of monitoring results to all parties and providing improved protection for the aquatic ecology of Deepdell Creek.

Jan 1, 1993

By Gordon] [Reavis

Halliburton Services and Brown & Root have developed a unique foundation system that blends oilfield and construction technologies to construct deep foundations which offer significant advantages across a variety of soil profiles. This highly efficient system is being developed to meet the construction industry's needs into the 21st Century. Based on a concept initially introduced to Halliburton Services by V.L. Schellhorn in 1987, Halliburton combined their existing cement slurry mixing and pumping technology with oilfield drilling practices and a new tool design to field test the viability of the concept. Results looked encouraging, and Halliburton asked it's sister company, Brown & Root to evaluate and further develop the process. With Brown & Root's knowledge of the construction industry, the original concept has developed into a viable and efficient foundation construction system.

Jan 1, 1993

By Y. Prevost, D. Verhelst

"A computer-assisted process control system for the Noranda Process Reactor Wa5 installed at the Home smelter in 1991. Operating as an advisory tool for the furnace operators, and using a flexible oxygen balance as the basic building block of the computer program, the new control system has helped to reduce the variability in the grade of the matte produced by 50% . The smelter is currently operating at a 72% copper matte, with a standard deviation of between 1.0 and 1.3, while treating a wide range of concentrates, secondary materials and scrap. Enhanced process control has allowed for longer reactor campaigns, and improved stability of the converting operation.This paper reviews the feed classification and blending practice used at the smelter, outlines the strategy of the new computer control system, and summarizes the benefits realized since the implementation of the system in early 1990.IntroductionUntil 1989 the Noranda Home smelter operated as a multi furnace smelter, at one time having three hot-charge reverberatory furnaces, and finally operating with one wet-charge reverberatory furnace and one Noranda Process Reactor. In 1989 the final reverberatory furnace was closed and the Reactor became the sole smelting vessel, treating around 750 000 tonnes of concentrate, secondary materials, and scrap per year. At the time of the start-up of theNoranda Reactor in 1973, the vessel was capable of treating 750tonnes per day of a heterogeneous mixture of copper concentrates, fluxes and secondary materials to produce copper in one operation. Through process improvements, and the introduction of additional oxygen in 1982(pannell and Mackey, 1988), the daily tonnage increased to 1800 tonnes by 1988. The operation had also been changed to produce a high-grade matte instead of copper. Figure1 illustrates the main features of the reactor, a cylindrical vessel which is charged at one end and tapped at the other. The matteis subsequently processed through Peirce-Smith converters and anode furnaces before being cast into copper anodes. Figure 2 outlines the progressive increase in the furnace smelting capacity. Over this period the percentage of secondary materials, and scrap feeds also increased to approximately 110 000 tonnes per year, or 15% of the total new feed input (Bedard et al., 1991). Now operating wholly as a custom feed operation, the Home smelter can treat over 2200tonnes per day of new metal-bearing material."

Jan 1, 1993

By J. R. Palmes

Three coal samples, selected out of eight with well characterized surface properties, were used in flocculation tests and synthetic mixture of coal and silica was used in the selective flocculation experiments. Coal wettability and flocculant type were found to have a strong effect on the flocculation results.

Jan 1, 1993

By P. J. Poirier, J. A. Meech, H. Raabe

"An Expert System has been implemented to assist operators in applying knowledge about froth conditions in the control of the flotation circuit at Highland Valley Copper. For some time, the personnel at Highland Valley Copper have recognized that froth type is a useful indicator of good operating conditions. However, the operating strategy based on froth type recognition is an ad-hoc skill in which different operators use a variety of terms, features and procedures to identify and solve problems. The first phase of this project developed an on-line consultative system to advise and tutor so that the diffuse expertise could be rationalized and consolidated into a standardized format.The second phase has brought this knowledge into a real-time environment to advise the operators on the floor in identifying froth types and troubleshooting corrective action. This paper describes the steps taken to acquire the knowledge, to design the required system features and to implement the real-time version of this system.INTRODUCTIONThe use of expert systems in the mineral industry has been gaining popularity in recent years. Minnova Inc, Les Mines Selbaie, Wabush Mines, Potash Corporation of Saskatchewan are just a few examples of Canadian mining companies that use expert systems to monitor or control their plants. Applications in the field of flotation include Brenda Mines (Edwards, 1992), Mt Isa Mines Ltd (Lacouture et al, 1991), Outokumpu (Karhu, 1989) and Kidd Creek (Burrows et al., 1989).Expert systems are defined as ""computer systems that apply reasoning methodologies on knowledge in a specific domain in order to render advice or recommendations much like a human expert"" (Turban, 1988). The main areas of application are diagnosis, training, process monitoring and control, and design. There are basically two main types of expert systems: Consultative systems, which are off-line applications in diagnosis and design, and on-line realtime systems, used for supervisory process control and real-time advising."

Jan 1, 1993

By A. E. Petersen

The United States Bureau of Mines conducted research on high-intensity magnetic separation methods for upgrading tantalum concentrates from Alabama. Process flow sheets were studied to maximize tin removal and minimize tantalum loss. Using laboratory-scale equipment, concentrates were produced which contained over 65% combined Ta2O5-Nb2O5. Up to 78% of the tin was recovered as a byproduct, containing about 70% SnO2. Only 1 to 5% of the tantalum reported with the tin byproduct. The producer subsequently incorporated high-intensity magnetic separation into its process flow sheet to provide concentrates for the National Defense Stockpile.

Jan 1, 1993

By Jacques Nantel

Mechanization has been at the core of productivity improvements since the industrial revolution. During the past 20 years, mining has derived spectacular progress from mechanization. In the future, however, mechanization alone will not be enough. In the next few decades, automation will bring about new generations of highly productive and safe machines, with low operating costs. Increased use of new and better technology is generally accepted as the prime factor capable of closing the productivity gap. The productivity gap is the difference between inflation and metal prices. The three S-curves in Fig. I represent the evolution of technology in general, and mining in particular. TI represents incremental changes. the dominant sort of technology changes in the mining industry: - Better drills, electric hydraulic drills vs. pneumatic drills, the drilling rate is twice as fast. - Better steel and bits, to accommodate the higher performance drills. - Improved chemical explosives. - Bigger trucks in open pits.

Jan 1, 1993

By I. S. Parrish

One of the most common errors uncovered while performing a reserve, or resource, audit is not in the geological modeling or grade problems due to poor sampling, prepartion or assaying. The error most commonly found is in tonnage or, more specifically, in the tonnage factor - that factor applied to volume to derive tonnage. Tonnage factors In the metric system, the tonnage factor is the density, or specific gravity. Specific gravity (Sp.g.) is defined by Dana (1947): • "The specific gravity of a mineral is the ratio of its density to that of water at 4° C (39.2° F). • "Density is the mass of the unit volume or weight of the body divided by the weight of an equal volume of water." When Sp.g. is multiplied by the metric volume it yields metric tonnes. In the English system, the tonnage factor is usually expressed in cubic feet per short ton (cu ft/st). When the volume in cubic feet is divided by cu ft/st, the resulting figure is in English short tons. Table 1 gives the cu ft/st factors equivalent to specific gravities from 1.6 Sp.g. to 5.8 Sp.g. The table is based on the following equation: cu ft/st = 0.9072 divided by Sp.g. times 0.02832 The blase attitude that most geologists have toward tonnage factors is echoed in the prevailing definitions of Reserves and Ore, as provided by the US Securities and Exchange Commission (S.C Form S-18), Canadian National Policy 2A and the SME Proposal for Reporting Terminology (SME February 1991). In each case, it is stated that "quantity" (SEC, SME), or "tonnage" (Can.2A), "is computed from dimensions revealed in...." etc. Unfortunately, "dimensions" do not directly yield tonnage. Dimensions must be factored by density to derive tonnage.

Jan 1, 1993

By G. F. Friel, G. S. Morrow, J. C. Edwards

An experimental program in the U.S. Bureau of Mines' Safety Research Coal Mine evaluated the effects of dead end crosscuts on the transport time of CO along a mine entry. The presence of carbon monoxide is a characteristic of a fire in its incipient stage, and is significant in the determination of a fire location in a mine from the analysis of arrival times of pre-set concentrations at CO monitors. In this investigation two entries, with a total of ten crosscuts, connected by a room were instrumented with CO sensors as part of a real-time monitoring and data acquisition system. Controlled release of 1% CO was monitored as the contaminant traveled the entries for several different configurations of CO sensors and exhaust fan settings. In addition to the normal longitudinal dispersion of CO due to turbulent mixing at the front of the CO wave, the induced rotation of air established within a crosscut by the entry flow diluted the CO concentration through entrainment. It was determined experimentally for the entry and crosscut configuration considered that the transport time for a specified CO concentration was 27% greater than the predicted time based upon entry volume only, but 13% less than the predicted time based upon entry and total crosscut volume. The proper interpretation of the measured transport time of a specified contaminant concentration between sensors is important for mine safety in the isolation of a fire and plans for miner evacuation.

Jan 1, 1993

By P. J. Stewart, S. Tracy

This presentation describes the operation and features of the WCC Carbon Reactivation Kiln. Particular emphasis is placed on minimizing carbon losses, corrosion resistance, fuel efficiency and the fate of mercury during reactivation in the multiple-tube vertical retort. Detailed laboratory work indicates that there is complete vaporization of mercury in the kiln, no refluxing in the upper sections and distinct advantages in using this type of kiln when sizing collection equipment.

Jan 1, 1993

By A. Gupta, S. C. Srivastava, K. K. Saroj

Bacterial degasification of methane and conventional methane drainage for generation of power have become accepted practice. Comparative economies of both the techniques have been described. Authors have discussed an alternative technique, involving complete methane biocycle. The first stage of the entire process involves gasification of coal using a consortia of bacteria to generate methane. The generated methane has been proposed to be pumped,as in conventional methane drainage. Technique described is basically similar to underground coal gasification, with the difference that in place of coal combustion, degradation of coal to lower molecular weight compounds by one set of bacteria and then methanogenesis by methanogens, producing methane have been described. Brief account of communities of bacteria that may be employed have been dealt with. Three arguments in favour of proposed technology as an alternative to conventional coal mining are: 1.Total elimination of hazardous operation. 2.Availability of power plants based on methane drainage, assuring comparative economies. 3.Possibility of utilisation of fuel cell technology for power generation giving higher efficiency. All the three phases of complete blocycle viz (1) methane generation from coal (ii) conversion of methane to hydrogen and oxygen (iii) conversion of products so obtained to methane, thereby completing the cycle have been discussed. INTRODUCTION Drainage of methane by conventional pumping process (Boxho,et.al.,1980) not only is helpful in maintaining safe extraction of coal, but with utilisation of extracted gas for power generation, also helps in over all economy of coal mining. This is gradually becoming standard practice for mining of coal in highly gassy mines. An alternative technique (Thakur et. al., 1991) of bacterial degasification of coal seams is also gradually gaining ground. The bye products of this process that is carbondioxide and water, do not contribute towards economy of coal extraction process. However the technique has its own advantage particularly in goaf area for avoiding fire hazard and drainage of methane from coal seams prior to initiation of mining operation. Either of these techniques could be applied in specific situations with success.

Jan 1, 1993

By Prof. Dr. T. R. Boulos

The Egyptian marine phosphorite of Sebaiya West, the Nile Valley, consisting of both non-oxidized hard siliceous and oxidized leached friable ore types, is subjected to a roughing-cleaning silica flotation circuit for production of wet-process phosphoric acid concentrate. Operating at its maximum capacity of 268 t/hr, the following were the main problems encountered during the early stages of running the plant: 1. The tremendous amount of slimes generated by scrubbing the crushed ore causing turbidity in the plant thickener after a short time of operation, regardless of the added flocculant. 2. Rod mill choking leading to inefficient performance of all other equipment and poor flotation results. 3. The drastic increase in imported oleic acid price. Pulp density and slurry flowrate measurements at different points of the plant as well as ore microscopy, size distribution analysis, chemical analysis and x-ray diffraction analysis of representative ore samples coupled with Work Index measurements of feed samples showed that the wide variation in the ore's hardness was responsible for such problems. Application of the locally produced non-edible rice bran oil as a substitute to imported oleic acid in flotation resulted in total saving of U.S.$2 million in 1990. The total unsaturated fatty acid content of the oil is high, ranging from 75.2 to 81.5 mole % of which the C18-unsaturated fatty acid content ranges from 72 to 79 mole %.

Jan 1, 1993

By Bernard J. Scheiner, R. J. Wesely, Cy E. Jordan, A. D. Zunkel, Gary M. Wilemon

The U.S. Bureau of Mines has investigated leaching of off-grade western United States phosphate deposits using sulfuric acid (H2SO4) in the presence of methanol. A combination of ore grinding followed by sulfuric acid in methanol leaching extracted over 80 pct of the phosphate. This leaching technique significantly limited the dissolution of iron, aluminum, and magnesium impurities and produced a phosphoric acid that was well within the desired limits for these impurities. The dissolution rate of phosphate rock in the sulfuric acid methanol system was significantly slower than the conventional aqueous sulfuric acid dissolution. Initially dissolution of the phosphate particle was controlled by the amount of surface area available to the sulfuric acid reactant. After about an hour of leaching, phosphate dissolution was slowed almost to a stop, limited by the rate of ion diffusion through the calcium sulfate barrier layer surrounding the unreacted phosphate particle. Consequently, the ore was ground below 38-pm to increase the particle surface area available and improve the overall dissolution kinetics and extraction. In addition, the sulfuric acid was slowly metered into the reactor to prevent any excess heat from the mixing of acid with the methanol from simulating the formation of methyl sulfates. The formation of methyl sulfate ultimately lowered the overall phosphate extraction by exhausting the supply of available sulfate ions for the dissolution reaction. Subsequent evaporation of the methanol from the product acid decomposed the methyl sulfates leaving undesirable sulfate ions in the product acid. Slow acid addition to the reactor provided high phosphate extraction and limited the amount of sulfate in the final product acid.

Jan 1, 1993

By W. H. Strickland, R. H. King

Ultrasonic ranging sensors are inexpensive, have no moving parts, have no lenses to clean, are normally small and unobtrusive, and can measure distances through moderate amounts of dust, smoke, and humidity, so they are well suited to underground mines. In the work reported here, conducted by the U.S. Bureau of Mines, researchers tested ultrasonic ranging sensors for their abiity to define rib line features for computer-aided navigation of underground mine mobile equipment. The investigation began with laboratory tests of field of view, angle of incidence, intersensor variation, and ranging accuracy of the individual rangers in a ring array produced by Denning Robotics of Wilmington, MA. The results showed that the sensors have good accuracy and low variability. Additional experiments at AMAX's Henderson Mine showed the sensors could accurately and reliably measure the distance to mine features, including convex and concave corners and rib intersections. The results showed that when used properly, the ranger data are accurate enough for reliable mine vehicle navigation When used incorrectly, ultrasonic rangers do not provide the anticipated data. Therefore, this report explains the principles of ultrasonic range measurement, describes the ranger's strengths and weaknesses, and explains proper ranger use and data analysis.

Jan 1, 1993