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By K. E. Harrison

The acid rain legislation has passed into law. This new law has caused the power generation community to investigate alternative methods to obtain compliance with the new legislation. One thing all of the power companies have concluded is the answer is not easy. Do we switch fuels to burn all low sulfur compliance coal? Maybe possibly only partial desulfurization by means of a dry sorbent system? Or, finally, maybe a wet scrubber system? Whatever the choice, the power community needs to investigate all of the alternatives. In 1988, ICF Kaiser Engineers, Inc. (ICF KE) responded to a request by the U.S. Department of Energy for the engineering development of advanced physical fine coal cleaning. ICF KE responded and was awarded a contract to conduct a multi-task program to develop an advanced flotation system to eliminate pyritic sulfur and retain as much energy as possible. ICF KE assembled a team that included members of industry, academia, and industry research organizations to conduct this multi-task program. The program includes sixteen (16) tasks. This team had personnel to help solve some of the anticipated problems and to provide industry prospective on the viability and commercial potential for any concepts proposed. The primary team consists of a major coal producer, Babcock and Wilcox, Eimco Process Equipment Company, and Virginia Polytechnic Institute and State University.

Jan 1, 1992

By J. Edberg

"This article details the use of an alternative testing method to the 2004 "Post-Tensioning Institute (PTI) Recommendations for Prestressed Rock and Soil Anchors" manual’s recommendations for temporary and permanent rock anchors for applications in shafts and tunnels. This method was developed and used for the Black River Tunnel (BRT) project in Lorain, OH as a means to reduce testing time of rock bolts during shaft construction while maintaining a similar level of quality control and assurance. The following sections will detail the project background, subsurface characteristics, shaft construction, the 2004 PTI testing method and associated difficulties, the alternative testing method and conclusions reached.Project backgroundThe city of Lorain is located in north central Ohio on the south shore of Lake Erie, approximately 40 km (25 miles) west of Cleveland and 119 km (74 miles) east of Toledo. The city chose to build a large-diameter storage tunnel and pump station to meet its requirements to reduce sanitary sewer overflows to the nearby Black River. NTH Consultants Ltd. (NTH) was retained by the city’s prime consultant, Malcolm Pirnie Inc. (now the water division of Arcadis), to perform a geotechnical investigation, develop design and construction bid documents for the tunnel and shaft liner systems and ultimately provide oversight assistance during the construction phase of the project.The BRT is an approximately 1,700-m (5,560-ft) long, 7-m (23-ft) diameter rock tunnel to be lined with a 5.8-m (19-ft) inside diameter secondary concrete lining (Fig. 1). The tunnel is designed to accept flow at a new drop shaft (Shaft 3) located on the west side of the Black River, across from the city of Lorain Black River waste water treatment plant (BRWWTP). The tunnel will be dewatered at the south end by a large diameter pump station (Shaft 1) located in the existing Lorain Port Authority Public Boat Launch. Flow from the new pump station will be discharged into an existing shallow interceptor sewer and directed back to the BRWWTP."

Jan 1, 2014

By P. Ulrich, V. Svalbonas

The early to mid 1980s was a period of mining consolidation, and many senior design engineers retired from the mill industry. Similar conditions have existed in the last few years. This creates a loss of a tremendous amount of experience. This paper is a look back by two senior mill designers who survived the dips in both time periods. From a continuous design practice of over 25 years, mill designs and fabrication practices are surveyed with a view of identifying what works, and is necessary, and what doesn’t, or is not necessary, in the creation of a safe, economic, long-lived grinding mill.

Jan 1, 2001

By Katsukiyo Marukawa, Mashamichi Sano, Shigeta Hara

"Various subject of studies are discussed to develop ·innovative refining processes in the 21st century for cost reduction, production of high quality steel and environmental conservation. The future refining reactor should have abilities of highly efficient mixing and separation of different phases. It is stressed ·that applications of electromagnetic and ultrasound energies, and control of flow fields rate required to create the highly efficient mixing I separation reactor.IntroductionIn recent years, it seems that the research and development in the field of steelmaking has shifted its emphasis to the solidification I ingot-making process in which continuous casting plays the leading role. From a long-range point of view, however, the need for continual development of the refining process will probably increase but is very unlikely to decrease. In order to meet such demands, it is required that problems and issues of the present process should be clearly grasped and that there must be rapid progress in process elements, such as highly efficient mixing and separation of different phases.Applications of electromagnetic and ultrasound energies and flow field control will become important options for resolving the above-mentioned problems. By efficiently and skillfully incorporating these new technologies into high-efficiency mixing/separation reactors, the innovative refining process will be established in the early 21st century."

Jan 1, 2000

By R. D. Carnahan

The authors are to be complimented on their timely study of solution-hardening effects in a bcc metal. Unfortunately there are some misleading aspects of the paper that should be discussed and clarified which is the purpose of this letter. In particular the writer is concerned about the allusions to rate theory of deformation that are inferred by the authors. This position is taken on the basis first of the "weaker" temperature dependence of the yield and flow stresses of the alloy relative to pure niobium and second of the strong temperature dependence of the Young's modulus of elasticity. It is by now well-recognized that any collection of data points used to determine a flow-stress temperature-dependence relationship must be established under isostructural conditions, i.e., similar or identical sessile and mobile dislocation densities and arrangements. Admittedly this is a formidable experimental undertaking and not what would be expected in an exploratory investigation of the present kind. As an alternative to the former one can consider, however, the temperature dependence of flow stresses at comparable strains. In the present study the authors have elected to use the lower yield stress and ultimate strengths to exhibit the temperature dependence of their alloys except for the data points taken at liquid nitrogen temperature. Here they have used the proportional limit for the yield stress and the fracture stress for the ultimate strength. This seems to be an unrealistic choice particularly in view of the fact that this temperature is below the duc tile-brittle transition region for the alloy and no supporting data points were obtained between -55" and -196°C. If the authors' data in Fig. 2 are extrapolated and data points selected at a constant strain, for example a strain of 0.01, the reader can quickly verify that a temperature dependence exactly paralleling that of pure niobium is obtained.

Jan 1, 1967

By Nikolaus Schneider

"Abstract: The combination of failure in joints of diaphragm walls and their exposure to water pressure may have far reaching effects ranging from water leakage to the risk of catastrophic loss of stability for the retaining wall and civil structures behind it. Investigations of imperfect joints in diaphragm walls have led to the development and testing of a quality tool to monitor the joint integrity of diaphragm walls during construction. By applying independent mechanical sensors (“joint inspector”) to the steel frame of hydraulic or mechanical grabs, it is now possible to record the surface conditions of exposed primary joints during the construction of secondary panels. This allows for the implementation of corrective action during the construction process should joint quality not indicate a watertight connection to the adjacent panel. The joint inspector, used for different types of stop ends, was tested on a full scale test field at several construction sites. The implementation of this new quality tool drives a new quality standard for deep excavations in inner city areas.General introduction to diaphragm wallsDiaphragm walls are reinforced concrete elements constructed using bentonite slurry to temporarily support an open trench in the ground. They are used in two main fields of application in civil construction, as foundation elements for vertical and horizontal loads (barrettes) and as retaining walls for excavation pits.Particularly for deep excavation pits in inner city areas, diaphragm walls are used as temporary or permanent walls of retaining walls. Alternative retaining wall systems would be secant pile walls, sheet piles or soldier piles, but these have disadvantages in structural strength when compared to diaphragm walls. If the vertical load of existing buildings next to the excavation pit has to be accommodated, the most practical solution can be found using diaphragm walls supported by prestressed anchors, steel struts or slabs."

Jan 1, 2014

BECAUSE you cannot always proceed by the ordinary pathway since you sometimes find yourself in a place where you cannot have all that you might need or wish, it often happens that it is necessary to know how to recognize and understand your materials well, in addition to having them well disposed, and to know how to use your, ingenuity in arranging a mould., Furthermore, things have a great diversity among themselves, and it is not possible to give a particular rule for all. But if you have a certain broad fundamental knowledge when you have need of many things, the ingenuity awakens and supplies its needs by imitation. Now, because I have thought that you had not hitherto had the slightest shadow of knowledge of what I have described in this treatise of mine, I have expanded and narrated things in greater detail than perhaps I might have done. For this reason I have also decided that I wish to tell you of several methods that can be used if you wish to mould, especially in making an intaglio* for a relief, t or in making another intaglio in bronze from either an intaglio or a relief. And I will tell how every relief reduces, itself from convex to concave and also how the relief is made from the intaglio. These works are first made of plaster or pastes or some other liquid thing that is soft when moulded and becomes hard either by drying out with heat or by shrinking with cold, such as tragacanth, plaster of Paris, sulphur, lead, wax, or similar things. And, in conclusion, we describe the method of making an intaglio from a solid. In making an intaglio you must first consider whether it is a large or small thing, figure or foliage, whether it is in demi- or bas-relief, and whether it is a thing that projects from the mould wholly or in part.

Jan 1, 1942

By Wood W, Bell A

Brown coal production in Victoria's Latrobe Valley Region (Figure 1) continues to rise and currently stands at around 50 Mt per annum. With the exception of around 2 Mt used to produce some 700 Kt of brown coal briquettes, this coal is mined by the State Electricity Commission to fuel large thermal power stations with a total installed capacity of just over 5 000 Megawatts. The moisture content of the coal as mined typically exceeds 60 per cent, making Latrobe Valley coal a markedly low rank fuel. The lack of heating value is, however, compensated for through power station design and by the fact that ash yield is very low, usually within the range of one per cent to four per cent on a dry basis. This means that compared with most other coals, the burning of Latrobe Valley brown coal produces relatively small quantities of waste products and discharges a minimal level of pollutants into the atmosphere. Even so, the inherent quality of Latrobe Valley coal does vary significantly from one area to another (Gloe, 1991; Barton et al, 1992) both on a local and a regional scale. Such variations need to be recognised and understood in order to not only realise efficiency gains in existing power stations but to properly assess resource potential for future utilisation and the application of new technologies. The principal aim of this paper is not to describe coal quality variation in detail or to speculate on the nature of and reasons for such variation. Rather, it is to simply underscore that significant differences do occur and that this is clearly a factor which needs to be considered in any evaluation of Latrobe Valley brown coal as a resource for the future.

Jan 1, 1992

By Leon Lorenzen, Charlene Gokhale

"In excess of 24 x 106 tons (Eskom, 1997) of coal-derived fly ash is produced annually in South Africa for the production of electric power. A large quantity of this ash is disposed of as a solid waste in landfills, thus posing a serious environmental problem. Due to the shortage of landfill sites, new ways of utilising fly ash are needed. Recently several authors have shown that various combustion fly ashes can be converted into zeolites to obtain industrial products with applicability in environmental management. Geopolymerisation has emerged during the last few years as a possible solution to some waste stabilisation and solidification problems. henolic compounds have been shown to be toxic to soil microorganisms at the parts-per-million level. Indeed several of the organic compounds classified by the U.S. Environmental Protection Agency as priority pollutants, are phenols. Immobilisation of phenols by adsorption on zeolites and encapsulation in a geopolymer appears to be a promising solution to this problem.This paper reports a technique for the production of a low-silica sodium zeolitic material from fly ash (zeolite NaP1), and its application for the stabilisation of phenols by adsorption and subsequent encapsulation in a geopolymer matrix. A commercial zeolite, clinoptilolite was also utilised as an adsorbent. Due to their uniform pore sizes and large surface areas, zeolitic materials are suitable for ion exchange and adsorption of certain organic substances. Adsorption data show that the commercial zeolite, clinoptilolite was an effective adsorbent for organics. Adsorption data showed that between 51.2 ppm and 74.3 ppm of chlorophenol or between 15.4 ppm and 32.5 ppm of phenol could be adsorbed. Physical encapsulation of the coated zeolite loaded with organic within a geopolymeric matrix increased the compressive strength of the matrix from 28.80 kN to 40.79 kN. Leaching data for the various geopolymer matrices with encapsulated and loaded zeolites show no organics being leached from the system at a detection level of 2ppm. According to the SABS these would have been acceptable organic concentrations within a waste water stream."

Jan 1, 2003

By Zsuzsanna Zborovszky

Study of different parameters (minimum discharge voltage, minimum discharge current, wire electrode diameter, speed of separation, electrode materials, overlap of the electrodes, etc.), their direct effect on the power going into the discharge, and their indirect effect on the possibility of obtaining ignition with an 8.31% methane-air mixture from a resistive circuit. Critical evaluation of the Cadmium disc breakflash (the presently internationally recommended test apparatus). Description of experimental setup and apparatus.

Jan 1, 1974

By P. A. Robbins

FAR NORTH, on the bare Arctic tundra, 11 mi. above the mouth of the Keewalik River where the latter discharges into Kotzebue Sound. several ., Eskimos garbed in parkies and muck lucks mingle with a small group of similarly clad white men. All of them shield their eyes from the white glare of the arc as a gasoline-driven arc-welding set rains molecules of metal on the break in a bull wheel, the large gear wheel which swings the boom and cab of a dragline shovel.

Jan 1, 1937

By F. M. Lewis, E. C. Johnson

Used as a classifier in a plant expanding capacity or changing to closed-circuit operation, the liquid-solid cyclone offers the advantage of being adaptable to existing conditions. This paper presents the costs involved and experience gained from operating a unit of this kind. BY now application of the liquid-solid cyclone to various classification problems in the chemical and metallurgical fields is more or less familiar. A less publicized application receiving wider consideration as time goes on is its use as a classifier in closed-circuit grinding operations. This paper presents the costs involved and the experience gained from operating a unit of this kind. In May 1951 the Tennessee Copper Co. installed in its London mill at Copperhill, Tenn., a liquid-solid cyclone in closed circuit with a 6x12-ft ball mill. The circuit in which this cyclone is used is the regrind or secondary grinding circuit of a copper flotation plant. Originally it consisted of a 7x1-ft conical ball mill in closed circuit with a bowl classifier. Changes made in the primary grinding circuit of the mill necessitated a regrind circuit of greater capacity. The bulk concentrate to be ground was raised from 900 or 1000 tpd to 1200 or 1300 tpd, and to accommodate this increase a 6x12-ft ball mill which had been in the primary grinding circuit was moved into the regrind circuit. When this was done it was found that the classifier was too small to give efficient operation. Space in the plant was at a premium, and since use of the cyclone offered considerable economy the installation shown in Figs. 1-3 was made. The unit installed is a 24-in. diam cyclone classifier with a 20" cone angle. Diameter of the vortex finder is 8 in., the feed entrance area 20 sq. in. Maximum diameter of the adjustable apex valve is 6 in. and minimum diameter approximately 3.5 in. To refer again to Figs. 1 and 2, the cyclone* is mounted motor. It is charged with 18 tons of 1-in. balls. The overflow, or fines, passes by gravity directly to the copper flotation plant. The ball mill discharge and the new feed combine in a sump from which they are sent to the cone by an 8x6 SRL pump at a rate of 497 gpm. Pressure at the cyclone is 5 psi. For reasons dictated by the nature of the ore treated, particularly the bonding of fine grains of chalcopyrite to pyrrhotite, the froth from the second cell of the copper rougher circuit is returned to the regrind mill. This flow, which somewhat complicates the standard closed-circuit calculation, is seen in Fig. 1 to be 156 tpd of solids. This combines with the cyclone classifier underflow to constitute the ball mill feed. The requirement of the regrind product is that it be 77 to 80 pct —200 mesh. The liquid-solids cyclone operating in conjunction with the 6x12-ft mill adequately met this requirement. Of primary importance is the fact that this arrangement provided sufficient classification capacity to replace the undersized classifier and was capable of building up a circulating load to 87 pct, large enough to give an efficient grind. In this instance the circulating load is taken as the ratio of sands to new feed. Any comparison of performance between this liquid-solid cyclone and the replaced classifier would of course be unfair, since the bowl classifier was

Jan 1, 1955

By Mikael Ramström

The IREDES Special Interest Group (SIG) for Drill rigs has been active since its inception at MineExpo 2000, in Las Vegas USA. The SIG for drill rigs is responsible for the development of a IREDES Drill rig profile. This includes the exchange of production planning, performance and quality reporting data between various kinds of drill rigs and the databases used by the operating mine. During year 2001 a first draft of the drill rigs profile was jointly prepared by drill rig suppliers, mining companies and third party suppliers and reviewed during several SIG meetings. In mid 2002 the profile was released for prototyping projects and since then, feed back received from these projects has been used as input to the first official IREDES release. LKAB and Atlas Copco decided in 2002 to start an IREDES prototyping project using the Simba L6C production drill rig as target equipment. The goal was to verify the drill rig profile and identify possible problems prior to the official release. This was done by implementing the IREDES prototype version in the LKAB?s production planning system and Simba rig control system. The Simba rig control system was designed to handle drill plan and logging information coming from the mine planning system. In parallel to this the mine production system was adapted for drill plan export and logging data import on IREDES format. This paper presents the most recent results of this prototyping project. Result from late 2002 show that the basic architecture of the drill rig profile works and that a common language for data exchange, IREDES will be a central issue for future mine automation. As a result from this and other IREDES prototyping projects the official IREDES release will be available in 2003. Soon after that release IREDES compliant products can be expected. This will include drill rigs and mine production planning systems.

May 1, 2003

By B. G. Stone

"INTRODUCTION “Sampling is the process of taking a small portion of an article such that the consistency of the portion shall be representative of the whole” (Baxter and Parks, 1939) “An orebody is a mixture of minerals in proportions that vary in different parts of the mass. As a consequence the proportion of contained metals also varies from place to place. Therefore, a single sample taken in any particular place would not contain the same proportion of metals as does the orebody as a whole except by a highly improbable coincidence. The probable error, which would be very large if only one sample were taken, decreases with the number of samples, but it never disappears completely unless the samples are so numerous and so large that their aggregate is equal to the orebody itself, in which case the orebody would be completely used up in the process of sampling. Since carrying sampling to such an extreme would defeat its own purpose, some probable error is always present in actual cases and the practical objective is to reduce this probable error to allowable limits. This means balancing the number of samples against the desired accuracy; if there are not enough samples the result is unreliable; if there are too many, the time and expense of taking them is excessive.” (McKinstry, et al., 1948). In an actual orebody, the accuracy of sampling depends not alone on the number of samples but also on proper distribution of them throughout the orebody, for it would obviously be incorrect to take all of the samples either in a rich part or a lean part. Therefore it is important to select the places in such a way that all parts of the orebody will be represented. “For those who cultivate land which is alike arid, heavy , and barren, and in which they sow seeds, do not make so great a harvest as those who cultivate a fertile and mellow soil and sow their grain in that. And since by far the greater number of miners are unskilled rather than skilled in the art, it follows that mining is a profitable occupation to very few men, and a source of loss to many more.” (Georgius Agricola page 5 Book 1 as translated by H.C. Hoover and Lou Henry Hoover, 1950)“It is evident that mining is very profitable to those who give it care and attention”"

Jan 1, 2015

By Y. W. Chung, W. I. Chia

"The interaction of water vapor with single crystal Ni3(Al,Ti) and polycrystalline Ni3Fe, with and without the presence of oxygen, has been studied with Auger electron spectroscopy, photoemission spectroscopy, thermal desorption and isotope exchange. Water dissociates to produce atomic hydrogen above 200 K on both Ni3(Al,Ti) and Ni3Fe surfaces. For Ni3(Al, Ti), the reaction is structure-sensitive. Pre-adsorbed or co-adsorbed oxygen on Ni3(Al,Ti) and Ni3Fe significantly suppresses hydrogen production due to water dissociation. This suppression process occurs more efficiently on Ni3Fe than Ni3(Al, Ti).IntroductionOrdered intermetallic compounds such as aluminides, silicides and titanides are very attractive for structural applications at high temperatures. This is because these intermetallics tend to form adherent oxides in oxidizing environments which protect the base materials from excessive oxidation and corrosion. In addition, they have low density, relatively high melting points and good high-temperature strength. However, the moisture in air severely embrittles many ordered intermetallics such as FeAl [1-3], Fe3A1 [4,5], C03Ti [6,7], (Co,Fe)) V [8], Ni3Si [9], Ni3(Si,Ti) [10], Ni3(AI,Mn) [Ill, and Ni3A1 [12-14], resulting in low 'ductility and brittle fracture at room temperature. Recent studies by Liu and coworkers (see review by George and Liu [15]) provide a qualitative description of the mechanism for this moisture-induced embrittlement. During elongation testing, cracks are formed, thus exposing fresh alloy surfaces. One or more active components of the alloy react with water vapor in the environment to produce atomic hydrogen which penetrates into crack tips and causes hydrogen embrittlement. This is similar to that proposed for moisture-induced embrittlement of aluminum alloys [16]."

Jan 1, 1996

By Willem Le Roux

Occupational health and safety is regulated by statute and common law. South Africa has, like many other countries, legislated extensively on occupational health and safety. Despite the body of legislation, the common law continues to play an important role as far as it concerns contractual, delictual and criminal liability. Two major Acts regulate occupational health and safety viz. the Occupational Health and Safety Act, No. 85 of 1993 (?OHASA?) and the Mine Health and Safety Act, No. 29 of 1996 (?MHSA?). The MHSA applies to mines and works as defined and related aspects. OHASA applies to other industries but does not apply to employers and workplaces to which the MHSA and certain matters covered by the Merchant Shipping Act, No. 57 of 1951 apply. See section 1(3) of OHASA. 2 The employer?s health and safety obligations in terms of the MHSA 2.1 Section 2(1) of the MHSA provides amongst others, as follows: ?The employer of every mine that is being worked must: (a) ensure, as far as reasonably practicable, that the mine is designed, constructed and equipped: (i) to provide conditions for safe operation and a healthy working environment (ii) ... (b) ensure, as far as reasonably practicable, that the mine is commissioned, operated, maintained and decommissioned in such away that employees can perform their work without endangering the health and safety of themselves or of any other person?.

Jan 1, 2011

By S. W. White

Plasma arc technology is increasingly being used to process a number of waste materials. In present research, plasma technology is being investigated to treat waste magnesium baghouse dust, which is a waste material from the Magnetherm process. This dust contains mostly MgO, but also contains NazO, CaO, and KzO. Plasma energy is to be used along with a reducing agent to produce pure gaseous magnesium while keeping the other materials in a slag. The magnesium will then be collected by rapid quenching. A non-transferred arc plasma torch is ideal for this reaction because of its high enthalpy and improved energy efficiency over conventional methods. Another advantage of plasma is that it allows for the pre-heating or pre-reacting of fine particles before contact with the melt. Thermodynamic calculations using the Gibb energy minimization method were used to determine the most stable compositions of the materials at various temperatures. Energy balances have also been calculated. These results conclude that we can recover approximately 98% of the magnesium with a proper quenching technique. The calculated results are compared with the experimental data, and good agreement between them was observed.

Jan 1, 1999

By H. Ikeda

INTRODUCTION [Slide 1] The Role of the MMAJ Ladies & Gentlemen, it is a pleasure for me to be able to make a speech at this SME annual meeting, representing the Metal Mining Agency of Japan. [Slide 2] Today’s Topics In my presentation today, I would like to divide my topics into four parts. First of all, I would like to describe the current situation of Japanese non-ferrous metal mining and mineral processing industries in Japan. Secondly, the supply and demand of non-ferrous metals in Japan. Thirdly, I would like to spare some minutes on the overview of overseas development by Japanese mining companies. Finally, since some people may not be sure what the Metal Mining Agency is or what this Agency, I would like to briefly introduce the Metal Mining Agency of Japan.

Jan 1, 2001

By Louis Schaarschmidt, Helmut Mischo, Ibrahim Alsalamin

In order to store high-level radioactive waste underground, the German repository concept considers clay, crystalline and salt formations as suitable host rock materials (National Citizens’ Oversight Committee, 2024). The current research projects of the Chair Underground Mining Methods at TUBAF (Technical University Bergakademie Freiberg) in nuclear waste repositories mainly focus on storage within salt formations. In this scenario, the high-level radioactive waste is supposed to be packed into specifically designed containers and then transported underground and emplaced in horizontal storage drifts. The residual temperature of the radioactive waste leads to the question if there are optimization possibilities for waste handling, the storage and the long-term emplacement of such high temperature level waste. A deeper understanding of the heat transmission from the container into the host rock might lead both towards possibly shorter surface interim storage times as well as size optimization possibilities of the repository itself. TUBAF has conducted research that successfully proved that an optimized container positioning yields more favorable thermal patterns and can be achieved with conventional mining equipment.

Feb 1, 2025

By V. Polotski

This paper describes a platform for autonomous operations in open pit mining environments. A typical operation consists of: (1) Initial locomotion toward a remote worksite; (2) Pattern navigation within the worksite; (3) Worksite manipulations and (4) Return locomotion to the start location. The platform includes precise localization module based upon the fusion of odometry, inertial and GPS measurements. The guidance module starts from a set of way points specified on a GPSreferenced map and plans and executes the mission. A typical mission includes specified manipulative tasks along the navigation path. During motion execution the on-board system continuously verifies that the path is free of obstacles and that the hardware is not overloaded. Momentary losses of external positioning measurements does not adversely affect the performance, owing to the redundancy in position and heading estimation. A rehearsal phase follows planning and allows the supervisor to examine the kinematic behavior of the platform during motion, thus reducing the need for continuous monitoring during execution and providing protection against potential losses of communication.

May 1, 2003