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By P. R. Desam, J. D. Miller, A. Datta

The flow behavior of bubble-particle aggregates in separation tanks is important for many flotation systems, particularly for wastewater treatment. These aggregates can be considered as the dispersed phase in a continuous liquid phase of water and the flow characteristics determine the efficiency of the bubble separation process. In this work, a general methodology for the computational fluid dynamics (CFD) simulation of a bubble separation tank is described. This system is analyzed by Eulerian-Lagrangian approach. The momentum transfer from the dispersed phase to the continuous phase is quantified using the Particle-Source-In Cell (PSI-Cell) method. With CFD simulations, the effectiveness of different tank design parameters are evaluated in terms of the extent of bubble separation.

Jan 1, 2000

By Larissa Koroznikova, Steve Durkin, Bradley Drake, Michael Tuck

This paper presents the results from the investigation of the application of thermal fragmentation in Australian hard rock underground narrow-vein mining. Two geologically similar samples from an underground narrow-vein hard rock gold mine were collected to obtain a measure of the technology’s ability to recover ore by the creation of large thermal openings to assess the applicability of the thermal method. Particle size distribution showed a higher generation of fine product, − 2 mm, by thermal fragmentation compared with selective blasting by 31%. The Bond work index for thermal ore (12.62 kWh/t) is half to that of the blasted ore value (25.32 kWh/t). The average grindability obtained for the thermal ore sample was greater than the blasted sample by a factor of 2.44, a higher value indicating a decrease in the energy required to grind. The thermal fragmentation method generates product with higher dissolution of gold in cyanide, by 14% for the − 9.5 + 2 mm size fraction samples. Additionally, the thermal fragmentation results in higher production of − 9.5 + 2 mm material by 15 % compared with selective blasting.

By J. Villeneuve, G. Fourniguet

Simulation of Mineral Processes is now commonly used by the Engineers in charge of plant design or optimization but a good knowledge of the simulation tool is still needed to conduct a project. A new level of algorithm has been defined above the simulator to answer directly to the user's questions. This level has been called the supervisor of simulation, which is using the automation concepts of sensors and actuators. At any place of the flowsheet (i.e., a stream or an equipment), the user may indicate which value could change by graphically implementing an actuator. Then, he can evaluate the effect of the variation of this value at any other place of the flowsheet by inserting a sensor. Thus, by example, it becomes possible to look at the evolution of the recoveries and/or the circulating loads when scanning an interval of the possible teed flowrates. This approach conducts to an increased facility in using a simulator and in analyzing the predictions. It is also a very valuable tool for permitting to characterize the sensibility of the simulation results to the variation of some settings (e.g., load of grinding media, rotation speed, water addition, etc.) or feed characteristics (e.g., flowrate, sizes, grades, grindability, etc.). Thus, the most important variables can be identified for design and pre-control optimization of plants. This new level of simulation will be implemented in a further version of the USIM PAC simulator and selected examples are presented.

Jan 1, 1995

By P. Beardmore, A. H. Holtzman, M. B. Bever

Specimens of the alloy CU3AU in the ordered and disordered states were subjected to explosive loading at shock pressures in the range from 160 to 475 kbars. The resulting changes in the resistivity, stored energy, microhardness, and microstructure were determined. By comparing the effects of explosive loading on ordered and disordered specimens a separation of structura1 and configurational changes has been made. In the pressure range from 290 to 370 kbars, representing a small increment of strain, the degree of long-range order in the ordered alloy decreased sharply. This change is attributed to the generation of shear stresses in excess of the theoretical shear strength of the alloy. Disordered CU3AU under explosive loading behaves in a manner considered to be characteristic of fee solid-solution alloys generally. The response of metals to high-velocity deformation and, in particular, to explosive loading has attracted much interest in recent years.' In general, metals are substantially strengthened by the passage of shock waves although the permanent strains are small. Explosive loading induces this strengthening by causing the metal to undergo rapidly a transient strain in a narrow region, first in the shock front and then in the rarefaction wave, which releases the pressure. The transient strain is given by e = 4/3 In V/Vo, where Vo and v are the specific volumes in the uncompressed and compressed states.2 The process produces many defects, which account for the strengthening. For the investigation reported here, an ordered alloy was chosen because it was expected to give sensitive indications of the near-neighbor effects produced by shock waves. The ordered alloy CU3AU was of special interest because of past work on the effects of conventional deformation on this alloy.314 The disordered alloy was included as a standard for comparison and as an alloy typical of a solid solution containing short-range order. The effects of explosive loading were followed by measurements of the resistivity, stored energy, and microhardness, and by metallographic examination. EXPERIMENTAL PROCEDURES Preparation of Specimens. Part of an ingot of the alloy Cu3Au prepared previously4 was cold-rolled with several intermediate anneals in vacuum to a final thickness of 0.042 in. Specimens of dimensions 2.0 by 1.0 by 0.042 in. were machined from this strip. After a recrystallization treatment of 1 hr at 565oC, half of the specimens were disordered by heating in evacuated Pyrex capsules for 1 hr at 460°C and quenching into water. Although they contained short-range order, they will be referred to as 'disordered" to indicate the absence of long-range order. The rest of the specimens were cooled slowly from 380°C to induce long-range order. The grain size of the ordered and disordered specimens was 0.012 mm. Explosive Loading. This was carried out at the Eastern Laboratory, Explosives Department, E. I. du Pont de Nemours & Co., by a driver-plate procedure described elsewhere.2 Two ordered specimens were stacked alongside two disordered speci-

Jan 1, 1964

By Mark Colwell, Christopher Mark

This paper summarises the results of a research project whose goal was to provide the Australian coal industry with a rib support design methodology and software tool that could be utilised by suitably qualified colliery staff. The project was primarily funded by Australian Coal Association Research Program (ACARP) and further supported by several Australian longwall operations. The outcome of the project is a design methodology and software tool called, Analysis and Design of Rib Support (ADRS). ADRS is an empirical technique, which recognises that several geotechnical and design factors affect ribline performance and in addition that operational and safety issues essentially dictate the level of performance required. Therefore, the design recommendations associated with ADRS are specific to the Australian coal industry; however the procedure(s) for data collection and analysis could be applied to other countries' 'underground coal industries. Case history data were compiled from 34 longwall and two bord and pillar operations resulting in 204 case histories with each case history data set being defined by approximately 130 individual data fields. In addition monitoring (incorporating stress cells and extensometers) was undertaken at 10 collieries to assess and quantify the effectiveness of different rib support patterns and hardware on rib performance. The monitoring sites allowed for an improved understanding of the mechanisms of rib failure and degradation in terms of its interaction with the installed support and at the various stages of the mining cycle. The design methodology deals with both mains development and gateroad development specific to Australian longwall mines. This paper focuses on longwall gateroads subjected to abutment loading and in particular the travel road which becomes the tailgate of the subsequent panel. The statistical analyses associated with these cases suggested that the level of rib support should be based primarily on the development height and the pillar stress level. The ADRS software guides users through the design process, allowing them to develop rib support plans based on sound science and a broad base of in-mine experience To the best of the authors’ knowledge ADRS is the first systematic rib support design technique to be developed for any country’s underground coal industry. The development and use of empirical models in mining have substantially contributed to improving safety and productivity. ADRS further demonstrates that empirical techniques are particularly relevant and beneficial in dealing with the complexities of geotechnical design associated with underground coal mining.

Jan 6, 2008

By J. Fox, K. Kocsis

"Planning for sustainable cooling potential requires protected space to successfully maintain chilled propylene glycol in storage until needed. Stored propylene glycol should be judiciously cared for, safely kept from the ill effects of heat, in order to remain useful for bulk air cooling. Minimizing the chilled temperature of the propylene glycol reservoir tanks means that atmospheric conditions will be monitored closely during the chilling phase. Storage facilities would maintain restricted airflow while minimizing possibilities for heat transfer during the storage phase. Sustainable cooling systems could reduce or eliminate the need for mechanical cooling if installed with favorable conditions. Storing the cooling potential from the winter months is what this new design is all about.INTRODUCTIONIn most subsurface, bulk air-cooling methods, the main source of potential cooling energy comes from cold-water applications. This paper investigates the practical use of harvested, chilled propylene glycol as the source of cooling potential. Propylene glycol is chosen as the cooling storage liquid refrigerant since its chemical make-up is intrinsically safe to fresh water supplies and will not harm underground workers should a leak occur in the closed cooling circuit. Harvesting the cold of winter is a meaningless endeavor without proper thermal planning for the storage of the cooling potential in cold refrigerant.PROPYLENE GLYCOL STORAGE RESERVOIRA new design for a closed refrigerant bulk air cooling system employing propylene glycol as the refrigerant is presented as the main design topic of this paper. Given that a deep and hot mine will need to be considered safe and productive, a cost-effective cooling system is desired in order for the mining operation to be considered sustainable. For underground mines at northern latitudes, cooling applied to fresh air is only required 3 to 4 months of the year. During winter, ambient atmospheric conditions can be harnessed and stored for use at a later time.The basis of this sustainable design uses very cold ambient air that is circulated around galvanized steel refrigerant reservoir tanks. The propylene glycol reservoir tanks are arranged in a concrete walled pit, or tank farm, excavated in bedrock. During the coldest months, the tank farm will be exposed to the open air. As the seasons change the tank farm will be covered with insulation to maintain the maximum cooling potential for use during the warmest months of the year."

Jan 1, 2019

By Jr. Chilson

This paper addresses the slurry pump industry as it exists today by touching on the business aspects, and by discussing research and development for material metallurgy and hydrodynamics for wear improvement which reduce operating and maintenance cost for the customer. It demonstrates why OEM parts give better value for cost.

Jan 1, 1996

By B. Berhe, R. D. Lawrence, J. Hinzer

"The fortunes of mining companies and their implied value are tied to cycles - both economic and commodity – within which they operate. Hence the determination of appropriate future metal prices is one of the most critical factors faced by mineral valuators especially for advanced projects. Price, and hence revenue, is usually the most sensitive input to the valuation model. Empirical studies of past forecasts show that the success rate for commodity price forecasting is very poor. This paper explores various approaches and comments on their strengths and weaknesses. We conclude that careful evaluation of long-term metal prices is a key element and is hardly a luxury that can be left to simple averages or rules of thumb. INTRODUCTION Discounted Cash Flow (""DCF"") analysis, is well suited for the valuation of advanced mineral development assets, for which there are identified mineral resources and some form of economic assessment (Pre-Feasibility or Feasibility Study). The DCF method is also the most commonly used method for determining value for such assets. It provides a means of relating the magnitude of expected future cash flows from profits (or losses) to the magnitude of the initial cash flow (investment) needed for capital expenditures to purchase or to develop an asset for commercial production. The method proves useful in making investment decisions as it allows for the quantification of the Net Present Value (“NPV”), as well as the Internal Rate of Return (IRR) and Payback Period on initial investment capital. Valuation by its very nature is a forward-looking exercise. The DCF method attempts to estimate the NPV of expected future cash flows, by selecting factors that will likely affect future cash flow based on informed analysis. One of the most critical and sensitive factors is the determination of appropriate future commodity prices. “The variables that have the greatest impact on a DCF evaluation are the reserves, the metal prices, and the discount rate.”1 The determination of future commodity prices for valuation purpose or during M&A negotiations is a hotly contested issue. There are a number of analysts, institutions and specialized commercial data suppliers that provide both short and long-term commodities price forecasts. Also, the use of an aggregated mean for all available forecasts, or consensus forecasted prices for valuation purposes is not uncommon. The methods used in making forecasts for each forecaster may vary and in many cases may not be publically disclosed. Nonetheless, the aggregated mean of all forecasted commodity prices of reputed institutions is usually taken to “represent the market’s view of likely future commodity prices.”"

Jan 1, 2016

By L. Y. Wang

In order to produce the iron and steel products with high quality and decrease the output of steel tailings, the quality of molten iron is a critical factor for iron and steel companies, especially the content of sulfidic in molten iron. Hot metal pre-treatment, an important and effective method to desulphur, is widely used in steel production. Millions of tons of slag from desulphurization and slag skimming are produced each year in China, and many more times this amount is stored in slag dams because of the lack of effective means to deal with it. In order to achieve the goal of sustain-able development, recycling these slag becomes necessary. The main objective of this paper is to study the composition characteristics of slag that from desulphurization and slag skimming. The sample was obtained from Anshan Iron and Steel Group Corporation, processed by hot metal pre-treatment. In this study, the chemical components and the mineral compositions of sample were tested. The results of chemical components and iron chemistry phase analysis showed that the iron and sulphide content in this sample were high, and the iron products existed mainly in the form of magnetite, metallic iron, ferrosilite. X-ray diffraction (XRD) and scanning electron microscope (SEM) results indicated that the sample included metallic iron, ferrate, wustite, metasilicate, aluminate, aluminosilicate, white lime and soon. Grading magnetic separation test work showed that magnetic separation was an effective method to recovery iron products and decrease the sulphide content in concentrate, and the tailing could be used as the raw material or padding in cement production.

Jan 1, 2014

By Shadia J. Ikhmayies

"Nanocrystalline fluorine-doped tin oxide, SnO2:F, thin films were prepared by the spray pyrolysis (SP) technique on glass substrates. The films were characterized by X-ray diffraction (XRD), scanning electron microscopy (SEM), X-ray dispersive spectroscopy EDAX and transmittance measurements. X-ray diffraction patterns revealed the nanocrystalline nature of the films where the grain size was estimated based on the Sherrer formula. SEM micrographs showed that the films are uniform and totally covered with the material and they confirmed the nanocrystalline nature of the films. The absorbance was deduced from the transmittance measurements, and its first derivative was used to estimate the optical bandgap energy. Bandgaps larger than the bandgap of the bulk SnO2iF were obtained, indicating the presence of quantum dots. The hyperbolic band model was used to estimate the radii of the nanocrystallites. A comparison between the results of the different methods was performed.IntroductionTin oxide, SnO2, thin films are n-type semiconducting, transparent materials, which have numerous important applications in optical-electronic device technology. The optical transparency of SnO2, together with its chemical and mechanical stability, makes SnO2 films suitable for many other applications, such as transparent conductive coatings, gas sensors and heteroj unction solar cells [1]. In particular, SnO2 thin films have drawn much interest because of their potential application and integration with microsensor devices. Considerable attention has recently been focused on the development of solid state gas sensors based on thin films with a crystallite size smaller than the Debye length of the material, which show increased gas sensitivity and short response times [2]. In many of these applications, a doped SnO2 film is used as an active layer. Among the various dopants, fluorine is often preferred, because fluorine doping results in films with high transparency and good conductivity [1]."

Jan 1, 2012

By L Sandery, S Light

Within 22 months of commencing decline development, the Prominent Hill Ankata Underground Project achieved its full production rate of 1.2 Mt/a.In 2010 construction of the Ankata Underground Project was approved. Decline development commenced in November 2010 and the turnout for the first sublevel was reached by August 2011. The first stoping ore was produced in the first quarter of 2012 and production was successfully ramped up to full production during the third quarter of 2012.Diamond drilling commenced in October 2011 and was conducted concurrently with the underground development. This presented challenges as mining and production targets had to be balanced with underground exploration activities. To achieve production on schedule, without adversely affecting the diamond drilling program and future development, meticulous and adaptive planning techniques were required. This included involvement from engineers, geologists, underground operators and underground diamond drillers.The granularity of these planning techniques allowed the management and prioritisation of development and diamond drilling down to an almost hourly basis. A constant flow of information from drill assay results was fed back into the planning systems. This resulted in a constantly evolving mine plan as the orebody was further refined. High priority areas were identified and targeted to allow continued development and a successful rapid ramp up to full production.CITATION:Sandery, L and Light, S, 2014. Managing the diamond drilling interactions in commissioning the Ankata underground mine, in Proceedings 12th AusIMM Underground Operators’ Conference 2014 , pp 75–80 (The Australasian Institute of Mining and Metallurgy: Melbourne).

Mar 24, 2014

By A. MacRae

Campaign life of the converting furnace has been limited by break-outs through the hearth and walls. Throughput of concentrate has increased by 60% since start-up of the copper operations in 1981. The Furnace Integrity program was initiated at Kidd in 1993 to improve the reliability and safety of the smelting-cleaning-converting furnace line. The converting furnace is undergoing a series of upgrades to overcome severe refractory wear to the roof, walls and hearth. A recent shut-down was held in March 1997 to implement improvements to the roof, walls and slag outlet. Wall modifications included a new upper shell, wall coolers which can be supported during a shut-down from outside of the vessel, and an increase in the number of cooling blocks. Improvements to the roof included increased cooling, a novel brick/cooler suspension system, and roof compression for gas tightness. Design is currently underway to deepen the refractory hearth, to decrease hearth erosion and increase resistance to flotation.

Jan 1, 1998

By R. Pallini

The Franklin Research Center (FRO, a Division of The Franklin Institute was contracted by the U.S. Department of Energy to investigate the application of elastomeric materials for the purpose of smoothing loads on dragline thrust rollers. This report covers the design, fabrication, and demonstration of a portable- device for measuring roller circle track deviations and roller loadings. The results of this work are documented in this report. During December 1981, a field test group visited the Falkirk Mine, Underwood, North Dakota for the purpose of demonstrating the use of the designed and built device. The data collected indicates the practicality and usefulness of such a device for determining actual dragline roller circle roller loads, while the dragline is in service. The device was useful in determining roller load peaking that may be a contributing Factor in the premature failure of these thrust rollers. The device could be used for field evaluation of elastomeric cushioning materials used to eliminate these load peaks.

Jan 1, 1982

By M. E. Rossi, C. Badenhorst

Conditional bias occurs when the expected value of the true grade conditional on the estimated grade is not equal to the estimated grade. It is a quantification of how the average of estimates differs from the true value. Conditional bias is present in all resource estimates due to the unavoidable properties of kriging, and indeed all linear estimation (regression) methods. In a mining resource estimation context, the degree of conditional bias is dependent on the spacing of the conditioning data; more data leads to the expectation of less conditional bias This paper discusses conditional bias from two perspectives: 1. 2. Estimates seeking to eliminate, as much as possible, conditional bias; and Estimates that accept a larger amount of conditional bias in resource models, in order to achieve a specific outcome. The problem of conditional bias in estimation can only be fully appreciated if the objective or purpose of a resource model is understood. There are instances where conditional bias should be avoided because it is not reasonable to make decisions using estimates that are known to be wrong in expected value; for example, when making a final decision in grade control with respect to the destination of the material. In most instances in the mining resource estimation context, however, the estimated values will not be “final estimates”, but “interim estimates”, meaning that in the future more data will be obtained, and the ”interim estimate” will then be updated. In this context, the most useful resource model is an interim model that is able to predict the final model estimates, despite not having all the data available that will be collected in the future. This is the objective, for example, of a recoverable “long-term” model developed prior to operating a mine, for example at the feasibility stage. It attempts to predict the ore that a processing plant will receive, well into the future. In such cases, it can be unequivocally demonstrated that conditional bias is not only unavoidable, it is a necessity.

Sep 1, 2021

By Frederic Benard

This paper constitutes a preliminary report on experimental work done to date on the anode-furnace treatment of blister copper containing relatively high percentages of nickel. The investigation has not been completed but results obtained to date are considered of sufficient interest to warrant publication. Blister copper treated by the Ontario Refining Co. originates from the Copper Cliff smelter of The International Nickel Company of Canada, of which the former is a wholly-owned subsidiary. The blister as received contains from 0.50 to 1.50 per cent Ni, and in this respect differs from that treated by other refineries on this continent. During the anode-furnace treatment, only a portion of the nickel content is removed, and of the amount remaining in the anodes a varying percentage is found in the anode slimes. This necessitates a more extensive treatment than ordinary nickel-free material. Sometimes it is necessary to repeat roasting and leaching operations several times before the nickel colltent is low enough to permit the slimes to proceed to the dorè furnace. This, besides increasing treatment charges, causes greater selenium stack losses and involves a longer tie-up of precious-metal values. Therefore this investigation was undertaken with the aim of determining the factors influencing the diversion of nickel into the anode sludge. From experience it was known that by keeping the nickel content of anodes at 0.55 to 0.60 per cent maximum a relatively satisfartory slime resulted. One avenue of attack therefore was developing improved elimination in the anode-furnace treatment so that the anode content mentioned above was not exceeded. Another angle was to improve the solubility, during electrolysis, of the nickel constituent in the anodes, thus decreasing the percentage diverted to slimes. . It may be mentioned here that nickel dissolving electrochemically and entering the electolyte presents no difficulty from a treatment standpoint. Both of these approaches were studied and are discussed separately below.

Jan 1, 1943

By Frederic Benard

This paper constitutes a preliminary report on experimental work done to date on the anode-furnace treatment of blister copper containing relatively high percentages of nickel. The investigation has not been completed but results obtained to date are considered of sufficient interest to warrant publication. Blister copper treated by the Ontario Refining Co. originates from the Copper Cliff smelter of The International Nickel Company of Canada, of which the former is a wholly-owned subsidiary. The blister as received contains from 0.50 to 1.50 per cent Ni, and in this respect differs from that treated by other refineries on this continent. During the anode-furnace treatment, only a portion of the nickel content is removed, and of the amount remaining in the anodes a varying percentage is found in the anode slimes. This necessitates a more extensive treatment than ordinary nickel-free material. Sometimes it is necessary to repeat roasting and leaching operations several times before the nickel colltent is low enough to permit the slimes to proceed to the dorè furnace. This, besides increasing treatment charges, causes greater selenium stack losses and involves a longer tie-up of precious-metal values. Therefore this investigation was undertaken with the aim of determining the factors influencing the diversion of nickel into the anode sludge. From experience it was known that by keeping the nickel content of anodes at 0.55 to 0.60 per cent maximum a relatively satisfartory slime resulted. One avenue of attack therefore was developing improved elimination in the anode-furnace treatment so that the anode content mentioned above was not exceeded. Another angle was to improve the solubility, during electrolysis, of the nickel constituent in the anodes, thus decreasing the percentage diverted to slimes. . It may be mentioned here that nickel dissolving electrochemically and entering the electolyte presents no difficulty from a treatment standpoint. Both of these approaches were studied and are discussed separately below.

Jan 1, 1943

By J. Zou

With the increasing applications of the Chinese metal magnetic liners, the requirement for their technical specifications has become stricter and stricter. It is necessary to deeply analyse the metal magnetic liners in order to improve their reliability and economics. The key issue of metal magnetic liners is magnetic forces: their attractions to mill shell and protection layer. Mathematical models were developed using finite-element analysis software and systematic simulation analyses of the two most critical indexes of magnetic liners were performed to find out the most important parameters and their effect on the liner?s characteristics. The relationships between magnetic forces and installation gaps, thickness of permanent magnets and thickness of protection layer may be used to guide the design of metal magnetic liners for ball mills in order to achieve good economic indexes.

Jan 1, 2014

By Hu Long

In this, the first systematic study of the oxidation of orpiment (As2S3) in sulfuric acid solution under oxygen pressure at temperatures above 170°C, the effects of retention time, temperature, particle size, oxygen partial pressure, the concentration of sulfuric acid and pulp density were evaluated. The effects of cupric and ferric ions on the oxidation rate of As(III) to As(V) were also examined. The products of oxidation are As(III), As(V), SO42- and elemental sulfur. At temperatures ranging from 170 to 230°C, most of the arsenic was found to be in the trivalent state, and oxidation to As(V) with oxygen was very slow. This was confirmed by attempting to oxidize a synthetic arsenious solution. However, the rate of oxidation of As(III) to As(V) is rapid in the presence of ferric ion. Elemental sulfur was found at all temperatures investigated, which can be further oxidized to sulfate at high temperature.

Jan 1, 1999

By L. Bloomquist

This paper describes how Automated Mining Systems (AMS) is evolving the state-of-the-art in guidance systems for autonomous underground vehicles. The techniques, trade-offs, and lessons learned from these systems are described, including the safety regime that has been implemented. First generation autonomous guidance systems for underground vehicles relied on infrastructure for the vehicle to follow. However, there are additional costs associated with that approach. The current generation uses a pair of laser range finders as its only guidance sensors. This system uses a minimum of infrastructure, in the form of a redundant system of location referencing. Advanced steering and drive control algorithms are incorporated into this generation of system. The next generation of infrastructureless guidance systems will be based on a 3D vision sensor, which was originally developed for autonomous Mars rovers and is being adapted for underground mining use. Results of early underground field trials are presented, along with a description of this emerging technology.

Jan 1, 2004

By L. Bloomquist, C. Arnoldi

"This paper describes how Automated Mining Systems (AMS) is evolving the state-of the- art in guidance systems for autonomous underground vehicles. The techniques, tradeoffs, and lessons learned from these systems are described, including the safety regime that has been implemented.First generation autonomous guidance systems for underground vehicles relied on infrastructure for the vehicle to follow. However, there are additional costs associated with that approach.The current generation uses a pair of laser range finders as its only guidance sensors. This system uses a minimum of infrastructure, in the form of a redundant system of location referencing. Advanced steering and drive control algorithms are incorporated into this generation of system.The next generation of infrastructureless guidance systems will be based on a 3D vision sensor, which was originally developed for autonomous Mars rovers and is being adapted for underground mining use. Results of early underground field trials are presented, along with a description of this emerging technology."

Jan 1, 2004