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By R. Y. Wan

Recent research efforts have shown have shown selective solvation extraction of a gold cyanide ion-pair complex from alkaline cyanide solution is possible with organic phosphorus esters. These alkyl phosphorus esters such as tributyl phosphate (TBP) and di-n-butyl n-butyl phosphonate (DBBP) can selectively load gold to rather high levels, even in excess of 30 gpl. However, traditional stripping techniques are not particularly effective. In this regard, gold recovery by direct electrolysis of the organic phase has been found to be an interesting possibility. Further, the rate of direct electrodeposition from the organic phase can be improved significantly by using an aqueous/organic mixture. Direct electrodeposition of sheet gold from loaded DBBP was successfully accomplished at a current density of 8x10 4 amp/cm2 and 55°C from such a two-phase mixture with the aqueous phase as the continuous phase. No appreciable degradation the DBBP was found after 5 cycles of extraction and, electrodeposition. Finally, the applicability of the process strategy for an industrial situation was demonstrated by the successful treatment of waste gold cyanide electroplating solutions.

Jan 1, 1986

By Luben Savov

This paper presents recent research works on the removal of the tramp elements Cu, Sn, Zn and Pb from steel. The evaporation of Cu and Sn in iron-based melts treated at reduced pressure of the gas phase was studied in a vacuum induction melting furnace. The effect of chamber pressure, temperature and melt composition was investigated. Since the main source of contamination of steel with Sn and Zn is the recycling of tinplate and zinc coated steel, respectively, possibilities for the removal of meta1ic coatings in a scrap pre-treatment stage were studied, too. Tin was removed in the temperature range 400-5S0°C by treatment with reactive gases featuring high sulphur potential. Zinc can be removed by evaporation or by a combination of thermal and mechanical treatment. The paper discusses the thermodynamics of Pb in carbon-saturated iron melts, too.

Jan 1, 2001

By Ian Wark

IN an earlier paper1 measurements of contact angles due to the effect of xanthates on mineral surfaces were reported. The solutions in which these measurements were made differed widely from those of modern flotation circuits. It is intended, however, by introducing, one at a time, the other principal reagents of flotation, to approach gradually the solu-tion composition of flotation liquors. The work now described is an attempt to determine the effect of one of the most important of these reagents-namely, sodium cyanide-on the establishment of air-mineral contact. The work has been carried out for the following companies: Broken Hill South, North Broken Hill, Zinc Corporation, Electro-lytic Zinc of Australasia, Mount Lyell Mining and Railway, and Burma Corporation. Since the effect of cyanide is inseparably connected with the alkalinity, the results cited below deal with the mutual effects of alkalis and cyanide. Alkalis alone exert a significant effect on the air-mineral contact but comparatively large amounts are required. Since the addition of a small amount of cyanide greatly decreases the degree of alkalinity necessary for the suppression of contact at surfaces of any of the minerals experimented with (except galena) and since alkalis are rarely used alone in practice, little attention has been paid to cyanide-free solutions. It was shown in the previous paper that, excluding the dixanthogen effect, whenever contact was practicable at all in an ethyl xanthate solution the angle of contact was 60°. There is, therefore, less necessity to measure equilibrium contact angles; in fact, the experiments herein described have generally been conducted with a view to determining whether contact is possible and not to measuring the actual value of the contact angle. The separations which have generally to be effected in dealing with complex sulfide ores are: (1) galena from sphalerite, pyrite, etc.; (2) sphalerite from pyrite and/or gangue minerals; (3) copper minerals from pyrite and gangue minerals; (4) pyrite from gangue minerals; (5) chal-

Jan 1, 1933

By Varadajan Seshadri

Keywords: torpedo car, kinetics, physical modeling A 1:6 torpedo car physical model was built to assess the optimum refining conditions for pig iron desulfurization in the torpedo car considering the industrial parameters used in the steel plant CSBM (Companhia Siderurgica Belgo-Mineira, João Monlevade, MG, Brazil). The refining practice in this plant is through injection of a CaO-CaF2-Mg powder in the pig iron melt. Similarity between the model and prototype were established through Froude and turbulent Reynolds criteria. Mixing times were evaluated by pulse tracer addition and the kinetics of metal/slag interactions were assessed from experiments investigating iodine transfer from kerosene to water. The influence of parameters such as level of metal, gas flow rate, lance penetration, lance orientation were also evaluated.

Jan 1, 2005

By ALICE V. Petar

Like many gem materials, amber has a colorful history which may be traced through the writings of the ancients and the ornamental relics discovered from time to time. Like few gem materials, however, it is distinctly useful in products whose value has no connection with the gem industry. Long prized for its beauty, amber was fashioned into articles of jewelry and ornaments to please the fancy of ancient rulers and to find a place among treasured pos- sessions in their tombs; it has been used by adherents of various creeds for rosaries and other religious symbols; and although still sold for these pur- poses it also lends itself to such commercial purposes as raw material for varnish. Amber is only on the border-line of the mineral kingdom; actually it is of vegetable origin, having been formed as resin from trees of the conifer family that existed during the Tertiary period. It is the hardest of the fos- sil gums. The United States produces no amber, although a few occurrences are known. Most of the world's supply comes from East Prussia, where it is ob- tained from both land and sea. For many years pieces of amber were gathered from the Baltic by fishermen and deep-sea divers; and although about 10 per- cent of the Prussian amber is still recovered from the sea, most of the out- put is mined from open pits on the Samland Peninsula.

Jun 1, 1934

By Charles Sabine

The U.S. Bureau of Mines studied mines and prospects in the Bristol/Granite Mountains Wilderness Study Area (WSA) in 1982. The 45,000 acre WSA, located in the eastern Mojave Desert of California, is underlain by Mesozoic plutonic rocks with scattered roof pendants of Paleozoic (?) metasedimentary rocks. Two mines and six prospects are identified; one mine, the Silver Lode Mine, and a prospect of unknown name are adjacent to the area. The Silver Lode Mine has occurrences of silver, lead and zinc. Within the study area, the Comanche Mine has occurrences of iron and copper and the Iron Victory Prospect has an occurrence of iron. None are large enough to constitute a resource. Occurrences of magnesian marble at the Comanche Mine, Iron Victory Prospect, and elsewhere in the area contain too much MgO for commercial use other than agricultural soil supplements or crushed stone. Transportation costs to markets would exceed the value of the rock. At the Comanche Mine, situated in a roof pendant of marble, about 10 tons remain of a 110-ton pod of magnetite which contained 42.5% iron, and less than 50 tons remain of a mineralized fault breccia which averaged 2.5% copper and 0.3 oz/ton silver. Magnesian marble contained 41 to 45% CaO and 14 to 16% MgO. Primary and secondary silver, lead, zinc, and copper minerals are disseminated along altered joints and in quartz veins in quartz monzonite at the Silver Lode Mine, adjacent to the WSA. Analytical data are sporadic; samples contained as much as 0.12 oz/ton gold, 1.8 oz/ton Silver, 1.1% lead, 3.8% zinc, and 0.3% copper. Mineralized zones in the workings are not resources, but they might indicate possible silver-lead-zinc resources at depth. At the Iron Victory Prospect, lenses of magnetite and hematite with some chalcopyrite occur in a skarn lone in a marble roof pendant. About 110,000 tons of iron-rich rock, averaging 47.2% iron, are present; the largest lens contains about 30,000 tons. About 150,000 tons of magnesian marble, averaging 41.0% CaO and 11.7% MgO, are also present. Deposits of stone, and sand and gravel in the WSA are too distant from markets to be resources. Occurrences of energy minerals were not identified.

Jan 1, 1984

By C. S. Matthews, H. M. Girner, C. D. Williams, M. J. Edwardson, H. R. Parkison

Quantitative interpretation of electric logs requires knowledge of formation temperature. In this paper, methods are developed for computing changes in formation temperature caused by circulation of mud during drilling operations. The basis of the method is the mathematical solution of the differential equation of heat conduction. The solution of this equation is presented in a series of graphs. These graphs are used to determine formation temperature disturbance at various radii for arbitrary mud circulation histories. Example comparisons with field results show reasonable agreement. It is concluded that, in general, the temperature disturbances caused by circulating mud are small beyond 10 ft from the wellbore but are quite significant near the wellbore. INTRODUCTION Quantitative interpretation of electric logs requires knowledge of the formation temperature in order to establish the resistivity of the formation water with accuracy. To determine the formation temperature, the temperature disturbances produced by circulating drilling mud must be evaluated. -The objective of this investigation was to develop a method for the numerical determination of these temperature disturbances at any distance from the wellbore as a function of time. The first step was to solve the differential equation describing the temperature behavior in the formation during and after mud circulation. This solution was used to calculate a series of curves relating temperature disturbance to shut-in time for various circulating periods. An "exact" method for computing formation temperatures with the use of these temperature-disturbance plots is described, and the results of an application of this method to a well in Montana are presented. Procedures for approximating formation temperatures are also discussed. BASIC EQUATIONS AND ASSUMPTIONS With the assumptions that (1) cylindrical symmetry exists, with the borehole as the axis, (2) heat flow is 1. The formation can be treated as though it is radially infinite and homogeneous in extent, as regards heat flow. 2. The presence of mud cake can be disregarded. 3. The effect of heat generated by bit action is negligible. 4. After mud circulation ceases, the rate of radial heat flow at the wellbore is negligible and is assumed zero for purposes of calculating temperature change with time. These assumptions are believed to be reasonable because of the agreement achieved between calculated and measured borehole temperature in a well, to be discussed later. Further, the agreement at the wellbore indicates that temperatures in the formation were also approximately correct. since it is the formation temperatures that determine wellbore temperature after ceasing circulations SOLUTION OF THE DIFFERENTIAL EQUATION AND ITS APPLICATION The solution of Eq. 2 for the temperature behavior during and after a single period of mud circulation is

By Morgan M. Sears, Mark Van Dyke, Gamal Rashed, John Rusnak, Khaled Mohamed

"In 2016, room-and-pillar mining provided nearly 40% of underground coal production in the United States. Over the past decade, rib falls have resulted in 12 fatalities, representing 28% of the ground-fall fatalities in U.S. underground coal mines. Nine of these 12 fatalities (75%) have occurred in room-and-pillar mines. The objective of this research is to study the geomechanics of bench room-and-pillar mining and the associated response of high pillar ribs at overburden depths greater than 1,000 ft. This paper provides a definition of the bench technique, the pillar response due to loading, observational data for a case history, a calibrated numerical model of the observed rib response, and application of this calibrated model to a second site. INTRODUCTION Bench mining is a an underground mining technique typically applied to room-and-pillar mines where full seam extraction on development presents an unacceptably high risk of injury from high pillar ribs or where the mining equipment is not designed to extract the full seam thickness. To mitigate the increased risk associated with high ribs and slender pillars, a more modest thickness is extracted from the top of the seam on development. This is followed by grading the floor and recovering the bottom of the seam with or without extraction of the pillars during retreat mining. A mine located in Eastern Kentucky extracts two seams at depths ranging from outcrop to 2,000 ft. In some areas of the mine, Seam A and Seam B are close enough together to be mined simultaneously. Seam A (top) is mined on development 7 to 9 ft. high for the entire length of the panel. On retreat, as each pillar is extracted, the continuous miner is ramped down into the floor (Seam B), two pairs of Mobile Roof Support (MRS) units are set, and the pillars are extracted at the full mining height of 14+ ft. During the pillar recovery process, the floor is extracted in each entry, from a ramp initiated outby the retreat line, sequentially just prior to extracting the lifts from the pillars (see Figure 1)."

Jan 1, 2017

By S. Chander, A. Briceno

The properties of surface films on pyrite have been studied through electrochemical techniques of cyclic voltammetry and AC impedance, measurements. The characteristics of the surface films depend on the conditions of oxidation and the source of pyrite. At potentials near 0.0 V, some pyrites have large values of polarization resistance, showing a certain degree of passivity. Some pyrites show more passivation than others, however. On oxidation, meta- stable phases of Fe(OH)2 and Fe(OH)3 form that transform to more stable phases on aging. The growth of surface films near the corrosion potential of pyrite follows a linear kinetics that is attributed to a chemical (or an electrochemical) reaction as the rate determining step. The surface film is considered to be a hydroxide or an oxide because it is hydrophilic. This study has also demonstrated that AC impedance ,measurements can be used to study the growth characteristics of films at mineral/solution interfaces.

Jan 1, 1988

By Neal I. Rosenberg

There is an old education maxim that a good teacher "first tells 'em what he's gonna tell 'em, then he tells 'em, and finally he tells 'em what he told 'em. I'm sure this says something about me as a teacher, and therefore as a student as well, but I'm going to begin by violating that maxim. The first thing I'm going to do is tell you what I'm not going to tell you. I'm not going to tell you that my company has found the solution to frozen coal problems. I'm not going to tell you that there is a miraculous new formula, and your frozen coal worries are over. Actually, it is really questionable whether there is a single step or process which will provide the answer. On the other hand, I do believe that at Union Electric we have made significant improvements in our ability to deal with frozen coal over the last couple of years, and I propose to describe some of the things we have done, what conclusions we have drawn so far, and the direction in which we are now headed. It would be well here to give a brief picture of the Union Electric system and the frozen coal problems we face. Union Electric is an investor owned electric utility with headquarters in St. Louis, Mo. Total generating capability is on the order of 6800 megawatts, which snakes us 24th or 25th largest in the United States. Power generation is by steam (both coal and oil fired), hydro, pumped hydro, and combustion turbine units. Although that is a diverse power supply, by far the largest source is our four coal fired steam plants. One receives coal exclusively by barge, the other three by rail. It is at these last three plants that the frozen coal difficulties arise.

Jan 1, 1980

By Gustav Wade

"INTRODUCTION Analyses of samples of crude oil from several Texas oil fields have been published from time to time in Bureau of Mines reports, some of which are out of print, but many other analyses of Texas crude oils have not been published. The purpose of this paper is to make available in condensed tabular form under one cover all analyses of the Texas crude oils that have been examined by the Bureau of Mines.DIVISION OF TABLEThe table of analyses is divided into six parts in accordance with the geographic subdivisions of the State. (See fig. 1.) This grouping of the oils corresponds only in a general way with the principal formations in each area from which oil is being produced. In general, the principal oil-producing formations in the Texas Panhandle and West Texas areas are of Permian age; those of North Texas are of Pennsylvanian and older ages; those of the East Texas Basin and of Central Texas are of Cretaceous age; and those of the Texas Gulf Coast are of Eocene and younger ages.For convenience in presentation the name of the geologic age has been assigned to each group of the table although same of the oils included in the group may be of another age.Group 1 includes oils of Permian age produced in the Texas Panhandle area, which comprises the following counties: Dallam, Sherman, Hansford, Ochiltree, Lipscomb, Hartley, Moore, Hutchinson, Roberts, Hemphill, Oldham, Potter, Carson, Gray, Wheeler, Deaf Smith, Randall, Armstrong, Donley, Collingsworth, Parmer, Castro, Swisher, Briscoe, Ball, and Childress."

Dec 1, 1934

By Donald L. Colwell

THIS is a metallurgical war. More than ever before, the mechanized forces and the air-borne warfare are deciding campaigns. Both of these are primarily dependent upon metals. There are two ways of increasing the effective supply of these metals when the demand is greater than the total over-all supply. The American custom, when a shortage of anything develops, is to get more. In the case of some nonferrous metals this has been done. For example, our potential peak output of magnesium will be almost one hundred times the prewar production. Output of aluminun has also been tremendously increased, and production of other metals is being stimulated by every possible means. Our enemies, however, have another successful method of increasing the effective supply of a material, and that is, to eliminate entirely all nonessential uses, and also to use, in essential applications, alternate materials wherever possible. Sometimes, ersatz material is inferior to the original, and consequently does not do the job as well. Often, however, it has been found superior, and many substitute items are now being used both by industry and by the military which will continue even when the original material again becomes available.

Jan 1, 1943

By Guangming Zhao, Nianjie Ma, Demao Guo, Denghong Chen, Yingming Li

Based on the mechanical essence that large-scale plastic failure zone appears in all or part of surrounding rock in soft rock roadway, the numerical simulation method is used to study the rectangular roadway in layered rock strata. It is clarified necessary conditions must be met for soft rock: firstly, the strength condition is that the maximum confining pressure is greater than the uniaxial compressive strength of rock strata. Secondly, the stress environment condition is that the ratio of maximum confining pressure to minimum confining pressure is greater than 3. Thirdly, the angle condition is that The direction of principal stress action enables the plastic zone of weak rock layers to fully develop. At the same time, the quantitative description method of soft rock is given, and the soft rock roadway is redefined. Soft rock roadway refers to the roadway that meets the strength conditions, stress environment conditions, and rock structure angle conditions under certain surrounding rock conditions and in-situ stress environment conditions. After the excavation of the roadway, a large-scale plastic failure can be formed, that is, a butterfly-shaped plastic zone is formed, and the conventional support cannot be adapted. It is difficult to support in engineering. It provides a theoretical basis and engineering analysis method for the identification of soft rock roadway, and the research results have engineering value Soft rock tunnel engineering in coal mines constitutes a vital aspect of soft rock engineering. This field broadly encompasses rock engi- neering concerning large plastic deformations, e.g., soft rock slope engineering and soft rock tunnel engineering. The intricate geological conditions encountered in soft rock tunnel engineering present a significant challenge to support, which has harmed coal production in China. China leads global raw coal production with the annual output of 4.6 billion tons. Annual tunnel excavation supporting this production spans approximately 11,000 km, with over 10% of these tunnels classified as soft rock formations. Soft rock is commonly associated with soft rock tunnels due to their prevalence in engineering projects. However, reaching a consensus on the definition of soft rock has long been an enduring challenge for scholars and engineers. Numerous definitions have been proposed, includ- ing descriptive, index, and engineering definitions. For instance, the International Society for Rock Mechanics defines soft rock based on its uniaxial compressive strength σ ranging from 0.5 to 25 MPa. China's Engineering Rock Body Standards, established in 1994 (GB 50218-94), take a qualitative and quantitative approach to classifying rocks. Rocks are categorized as hard or soft based on criteria such as hammering sound, fragmentation, water immersion effects, and weath- ering degree. Additionally, the integrity of rock bodies is assessed across five categories intact, relatively intact, soft fractured, fractured, and extremely fractured. This classification considers factors like the number and spacing of structural planes, their combination, and the types of structures. Descriptive and index-based definitions fall under the category of geological soft rocks, providing a comprehensive geological perspective on the surface features or strength characteristics. However, these definitions have limitations in engineering practice, which leads to contradic- tions. For instance, rocks with uniaxial compressive strength less than 25 MPa may not exhibit soft rock characteristics if the tunnel is shal- low with low horizontal stress levels. Conversely, rocks with compressive strength exceeding 25 MPa at sufficient depth and high horizontal stress may exhibit soft rock characteristics. Definitions originating from engineering practice have emerged after realizing the inadequacy of discussing soft rocks without considering engineering. For instance, Dong's loose circle theory defines soft rocks as rocks with a loose circle thickness exceeding 1.5 m, which chal- lenges conventional supports. This intuitive definition, widely accepted by engineering professionals, emphasizes the difficulty in supporting tunnels due to extensive damage. However, various tunnel damage poses a challenge in relying solely on the loose circle thickness of tunnels for determining soft rocks. He introduced the concept of engineering soft rocks, which are defined as rock formations exhibiting significant plastic deformations under applied engineering force. Two fundamental mechanical properties of soft rocks are identified the critical softening load and critical soft- ening depth. Rocks below the critical softening load threshold are categorized as hard rocks, while those exceeding it exhibit substantial

Jun 25, 2024

By Adam Chrzanowski, Eugene E. Derenyi, Peter Wilson

"The rapid growth of the mining industry in Canada necessitates a reevaluation of existing mining surveying techniques and the development of new methods. In this connection, the Department of Surveying Engineering at the University of New Brunswick initiated a research program, and the major points of investigation conducted to date are as follows: 1. Based on practical experience and theoretical studies, all factors influencing classical shaft-plumbing procedures were analyzed. Refined methods were developed to increase accuracy. 2. The performance of electronic and optical distance-measuring instruments in underground conditions were investigated. In this connection, test measurements were made in various mines, employing four types of Tellurometers, two models of Geodimeters and a proto-type optical range-finder. 3. Tests were conducted and methods developed for the mapping of large underground chambers by photo-grammetric means. The aforementioned points are discussed at some length in the paper. The authors have also indicated areas where further research is needed and suggested ways and means to improve and modernize mining surveying as a whole throughout Canada."

Jan 1, 1967

By W. A. Calhoun

The purpose of this investigation was to develop economical mineral dressing processes for removing objectionable quantities of impurities, such as quartz and pyrite, from refractory clay deposits in east central Missouri. The presence of excessive quartz in these clays causes crazing. Pyrite causes bloating and unsightly dark blobs on the surface of fired refractory brick. The iron concentration in the proper state of oxidation may also act as nucleation centers for carbon crystal growth which can result in bursting of the refractory. Numerous deposits, representing a very large tonnage, have been examined and prospected by various refractories companies and found to contain impurities in objectionable quantities. Upgrading these clays would greatly extend our reserves of high-quality refractory clays. Wet-tabling and wet-cyclone concentration were found to be effective for removal of impurities from clays. Of the two methods, wet-cyclone concentra¬tion would be cheaper and more effective. Although wet-tabling improved the refractory properties of each clay, beneficiation by wet-cyclone produced clays of superior quality. Clay recoveries by wet-cycloning ranged from 56.1 to 81.8 percent of the weight of the crude samples, and the beneficiated clays contained from 71.9 to 94.4 percent of the total alumina. The pyrometric cone equivalent (PCE) was increased from 1 to 3 cones by wet-cycloning. The beneficiated clays also met the reheat shrinkage requirements on refiring to 1,400° C. Missouri is one of the major domestic sources of fare clay. In addition to deposits of high-grade refractory clays, there arc many deposits that contain small percentages of impurities, which render the clays unfit for the production of high-heat-duty firebrick. Development of methods to beneficiate these submarginal clays to usable materials would greatly increase commercial fire clay resources.

Jan 1, 1961

By John D. Thornley

Alaskan villages typically store a one-year supply of fuel to reduce significant delivery costs. Alaska Village Electric Cooperative (AVEC), an electric utility cooperative providing power to 51 Alaska villages, has made a concerted effort to upgrade and improve their undersized and aging facilities. The Village of Stebbins, located south of Nome on Norton Sound is receiving upgrades to its AVEC bulk fuel facilities. Stebbins offered unique challenges from a foundations perspective due to the nature of the soil. The geotechnical investigation found the soil below roughly a third of the footprint of the bulk fuel facility to be thawed with seasonal freezing and the remainder was found to be warm permafrost with ground temperatures of between 30°F and 32°F. This is a unique and challenging arctic engineering design issue because foundations are designed differently for frozen ground conditions. Driven piles were selected because of site constraints, such as the design flood elevation and the change from thawed to frozen ground conditions. The pile design specified that the pile embedment depths would be selected based on the results of pile driving analyzer (PDA) testing during construction in the thawed ground and maintained within the frozen ground portion of the footprint. Difficulties during pile driving in the frozen ground resulted in several piles becoming severely damaged, requiring subsequent removal. This resulted in a reevaluation of the means and methods for pile installation. Additional fieldwork was performed to further characterize the subsurface soils and their frozen nature. Options for installation of piles in difficult areas were evaluated including ground thawing, predrilling, and reducing embedment depths. Presented within this paper are the findings from the initial and subsequent field explorations, discussion of the design methodology, and the decisions that led to successful installation of piles at this challenging remote village.

Jan 1, 2017

By William R. Nash

Case histories of water problems in underground mine shafts and tunnels are outlined to illustrate varying degrees of sophistication in grouting techniques currently applied in such construction. The interception of water underground can be one of prior knowledge, i. e., the site investigation provides necessary data to plan a grouting program prior to construction start, or excavations may encounter "changed conditions" or unplanned water. The latter includes catastrophic inflows and emergency situations where the structural integrity of a building or concrete shaft lining are jeopardized. The presentation of this paper outlines some applications of grouting work in underground mine construction throughout the United States in a variety of geological provinces and for a variety of minerals.

Jan 1, 1984

By C. W. Eggert

This paper gives an account of the E.V.O.P. tests made at the Copper Rand mill of the Patino Mining Corporation in Chibougamau, Quebec. The runs were made to acquire an understanding of the method. A description of events, along with conclusions, observations and opinions, is out-lined.

Jan 1, 1967

Construction workers may be exposed to hazardous dust containing crystalline silica during site preparation when drilling systems are used. The National Institute for Occupational Safety and Health (NIOSH) found that drill dust could be decreased by using wet or dry dust reduction engineering controls, enclosed cabs, and implementing a dust control program.

Jan 1, 2009

By J. Nsasi Bakambu

This paper describes an autonomous platform for exploration and navigation within networks of tunnels, as those typically found in underground mines and caves. In the exploration mode, a remotely located supervisor instructs the platform to move through successive sections of the network, gathering range data that is, then, concatenated into 2D/3D survey maps of the environment. In the navigation mode, the supervisor specifies high-level missions on the previously acquired survey maps. A motion planner, then, translates each mission into a set of consecutive navigation actions, separated by natural landmarks. Mission execution consists of detecting landmarks, self-localizing and performing the planned navigation actions.

May 1, 2003