Search Documents

By M. Mirnezami, J. A. Finch

The McGill component of the consortium contributed detailed examination of the electrokinetic properties of the constituent minerals, primarily pentlandite and serpentine. Mineral specimens were derived from an ore sample; mineralogical examination showed the serpentine was predominantly clinochrysotile, a fibrous mineral responsible for much of the flotation separation problem. The study included design of a novel sedimentation potential measuring device to classify the surface charge of the ore and electrophoresis measurements on single and mixed minerals which progressively approached flotation conditions. The sedimentation potential measurements provided a general association between surface charge and the visual state of aggregation as a function of pH. The electrophoresis experiments started with single minerals in a background of indifferent electrolyte and progressed to mixed minerals in a background of supernatant derived from an ore sample. The single mineral tests supported the suspected electrostatic interaction, i.e., hetero-coagulation, at flotation pH 9-10. The mixed mineral tests demonstrated this interaction and also revealed hetero-coagulation with Mg(OH)2 precipitates, derived from the supernatant. This interpretation was confirmed by optical and electron beam imaging. A series of agents, CMC, polyphosphate, soda ash, EDTA, were examined to disperse the system. To accommodate the small mass of single mineral available a novel turbidity measurement using a UV/Vis spectrophotometer was introduced. Selected conditions were used in contact angle and small-scale flotation tests.

Jan 1, 2011

By B. A. Hancock

New permit discharge standards instituted at Hecla Limited?s Lucky Friday Mine required installation of water treatment plants to manage water quality at two outfalls to the South Fork of the Coeur d?Alene River. The 002 Outfall Water Treatment Plant (WTP) is a clarification-filtration plant for treating the combined mill and underground discharge water flows. Process optimization efforts were a significant challenge until the negative impact the exploration diamond drilling products had on the clarification process was identified and resolved. The products were being wasted directly to the mine water discharge system which was pumped to the surface WTP. Anionic soluble oil and polyacrylamide based products were causing TSS particle hydrophobicity and dispersion that greatly affected coagulation and flocculation response, resulting in excessive chemical usage and treatment control issues. This paper details how problems associated with the drill products negatively impacted the 002 WTP and how system changes, alternative product usage and treatment at the source resulted in more consistent plant performance.

Jan 1, 2011

By Kaihui Yang

Volcanogenic massive sulfide deposits are generally considered to have been formed by hydrothermal fluids that leach ore metals out of footwall rocks. However, the necessity for a metal-rich magmatic component in the ore-forming fluid of "giant" ore deposits has been debated over the decades. The solution to this issue is important not only for metallogenic models but also for the mineral exploration. In the hydrothermal leaching model, massive sulfides at mid-ocean ridges are deposited from hydrothermal fluids containing 80 ppm Fe, 6 ppm Zn, 2 ppm Cu, 350oC, and 0.7 g/cm3 density (average data for 21oN East Pacific Rise). A simple calculation demonstrates that such a dilute fluid is unlikely to have been responsible for the formation of the largest ancient massive sulfide ores of greater than 100x106 tonnes, such as Kidd Creek, Brunswick No. 12, Neves Corvo, and Rio Tinto. For such a deposit consisting primarily of pyrite, sphalerite, galena and chalcopyrite (other minerals, including gangue, might account for an additional 10-20%) and even assuming 100% precipitation and retention of the sulfides, more than 790 km3 of vent fluid would be required. For typical water-rock reaction ratios of about 2, this fluid would have to have reacted with about 395 km3 of rock to acquire its metals by conventional leaching processes. This estimate, however, conflicts with the observation that even a giant massive sulfide ore body is usually underlain only by a few cube kilometers of obviously altered rocks. Moreover, this model is not consistent with the observation of hanging wall alteration in many large massive sulfide deposits. The close spatial association between massive sulfides and volcanic rocks, in both ancient and modern sea floors, suggests that direct magmatic contribution should be taken into account in the genetic model. Magmatic fluids, capable of carrying abundant ore metals and volatiles and escaping from magma by depressurization, are well known from modern active volcanoes on land. High concentrations of metals occur in CO2-rich magmatic fluid trapped in felsic volcanic rocks nearby large presently-forming VMS deposits in the eastern Manus Basin (Pacmanus, Suzette) and also in the footwall rocks of Ordovician giant Brunswick #12 deposit in the Bathurst district, New Brunswick. Only 1% of such metal-rich magmatic fluid mixed with heated sea water, that has leached its metals from rocks, would contribute 85% of the total metals to form an orebody. Such magmatic fluids are most likely to be formed from volatile-rich felsic magmas that are prevalent in back arcs, and, if added to the normal circulation system, the fluids could be responsible for the formation of "giant" ore deposits. If this is true, then the study of magmatic fluids in the seafloor volcanic rocks may provide criteria for the exploration of large ore deposits.

Jan 1, 2011

By B. P. Watson

The discussion written by Dr de Frey suggests that mine design should be based on closely spaced stability pillars. However, this concept leads to low extraction ratios at depth. The concept of `crush' pillars in conjunction with more widely, appropriately spaced stability pillars allows for significantly larger extraction ratios, particularly at depth. It should be noted that the rock conditions in many areas of South African platinum and gold mines are good, allowing significant spans to be mined safely between stability pillars. `Crush' pillars are cut small enough to fail stably near the face under stiff loading conditions, and their residual strength is intended to support about 10 m rock height between stability pillars. While this support resistance cannot be achieved by conventional support, crush pillars have been proven to have the required capacity for this purpose. The concept of leaving smaller crush pillars with appropriately positioned stability pillars has been used successfully for more than 30 years in areas of South African platinum and gold mines.

Jan 1, 2011

By K. Galos

The paper presents increasing importance of mineral secondary and waste raw materials in the minerals management in Poland. Definition of mineral secondary and waste raw materials is proposed, according to current Polish law. On this basis, sources of various types of mineral waste raw materials are analysed. The special attention is paid to the wastes from mining and processing, wastes from power plants, and wastes from steelworks and other smelters. Other types of waste and secondary materials, such as metallic containers, glass containers, batteries, metallic wastes and scraps, are also taken into account. Analysis of sources of such materials is shown together with the main directions of their economic use. Available sources of information on manufacture and use of the mentioned secondary and waste raw materials are also analysed. Finally, for a wide range of waste materials, their current and expected significance as substitutes for some industrial and construction minerals in Poland is given.

Jan 1, 2011

By T. R. Ellis

Many appraisers/valuers believe that the only valuation method available within the cost approach category for real property appraisal is the depreciated replacement cost method. Some valuation and financial reporting standards setters also believe the same. This paper introduces the minerals appraiser to a number of useful methods for mineral property appraisal that are based primarily on the principle of contribution to value, the predominant economic principle in the cost approach. Most of these cost approach methods discussed are primarily for use in valuation of exploration tracts and resource properties that have no defined reserves. However, the powerful rural cost method can be used to calculate the contribution of categories of resources, reserves and other property components to the value of a mineral property. This method can be applied to mineral properties at all stages of development, including producing properties. The author reasons that standards and regulations pertaining to real property valuation should be modified, and underlying principles should be expanded, so as not to inhibit appropriate application of these cost approach methods.

Jan 1, 2011

By Emily Wortman-Wunder

As the 2011 president of the Society for Mining, Metallurgy, and Exploration, Inc., I am pleased to present the 2011 issue of the Transactions of the Society for Mining, Metallurgy, and Exploration, Vol. 330. A significant portion of the contribution that we as a professional society make is the publication of professional and technical papers that accelerate the advancement of scientific knowledge and enable the transfer of technology. Communication within the mining community is the key to a successful society. This technology exchange continues a tradition that dates back to the 1871 meeting of 22 mining engineers in Wilkes-Barre, PA, that resulted in the founding of AIME; those individuals envisioned that these transaction volumes “would form a most valuable and greatly needed addition to our professional literature.” This volume fulfills that pledge. The 2011 Transactions is the second Transactions to take advantage of new publication technologies. It appears solely in electronic format. The decision to go to an all-digital format for this longstanding publication was a difficult one, but one which will better serve the mining community. Based on the feedback from the 2010 Transactions in e-book format, I believe that the transition to the all-digital format was the proper decision. The 2011 Transactions contain some of the most interesting research from the past year, including a 10-year profile of roof and rib fall trends from the National Institute of Occupational Safety and Health (NIOSH) and a new cross-disciplinary application of the tools of epidemiology to assess and mitigate risk in coal mines . This 2011 Transactions comprise of a total of 82 technical papers (626 pages including index), including all 19 papers published in 2011 in the Technical Papers Section of Mining Engineering magazine (Vol. 63) and all 32 papers published in 2011 in Minerals & Metallurgical Processing (Vol. 28). Additionally, this volume contains 31 papers that are being published for the first time in this issue. The papers presented in this volume were written by some of the most distinguished professionals in the industry worldwide. All 82 technical papers were peer-reviewed. The process of review and publication requires much hard work by authors, reviewers and our publications staff. As the 2011 president of SME and on behalf of all our members, I would like to extend our gratitude to all whose volunteer efforts contributed to the publication of this volume.

Jan 1, 2011

By S. J. Page

The personal dust monitor (PDM) is a combined tapered element oscillating microbalance (TEOM) respirable dust monitor and cap lamp, configured to have dimensions and weight similar to those of a lead-acid miner’s cap lamp battery. The Higgins-Dewell (HD) cyclone design operated at 2.2 L min-1 airflow has previously been reported to have low bias relative to the International Organization for Standardization (ISO) convention. Previous reports have described the PDM as meeting the NIOSH Accuracy Criterion. In order to avoid certain analysis anomalies encountered during these evaluations, a different method of establishing the PDM relative standard deviation was employed. Re-analysis of laboratory data for both the early prototype and precommercial PDMs indicates that the PDM still meets the NIOSH accuracy criterion, and that the precommercial PDMs are more accurate than previously reported.

Jan 1, 2011

By C. D. Litton

When methods to prevent the occurrence of fire in underground mines fail, the next line of defense is to rapidly and reliably detect the developing fire, so that subsequent evacuation and control procedures can be safely and successfully implemented. To provide this capability requires an understanding of the operational principles of different types of fire sensors, their merits as well as their limitations, and performance characteristics of the monitoring systems that control and process sensor data; an understanding of how fires develop and the different types of fires that can occur, along with their characteristics and the hazards they present; an understanding of the impact of the mine environment and routine mining activities, not only in terms of these effects on fire sensors but also in terms of the impact of mine ventilation and mine geometry on fire growth, fire characteristics and the detection process. All of these factors are components of the technology of fire detection, and when insufficient knowledge of any of these components exists, the ability to implement adequate mine fire detection systems is diminished. Within the last decade, significant advances have been made in fire detection technology applicable to underground mines. These advances include not only the development of improved sensors and better monitoring systems, but also an expanded understanding of how to deploy sensors, set sensor alert/alarm levels, account for ventilation effects, etc. In addition, there has been an increase in our knowledge of the types of fires that occur, the types of combustibles involved, characteristic times for fire growth and development, the levels of heat, smoke and gas that are produced and the hazards that result. It is the intent of this paper to provide not an overview of current mine fire detection technology and, also, to present data obtained for some smoke sensors that have potential for use in underground mines. The paper will also discuss the data, information and resources that are currently available and seek to identify those areas most in need of further research and development.

Jan 1, 2011

By C. V. Deutsch, J. B. Boisvert, J. L. Deutsch

Data used to build geostatistical models come from a wide variety of sources with potentially differing sample errors and volume supports. Typically all available sample measurements are pooled together for statistical analysis irrespective of the quality of the data. The sample data is used to assess spatial continuity, make local estimates and assess uncertainty. A new methodology is proposed to simplify accounting for samples of differing quality. The result is improved estimates with higher weights assigned to high-quality samples, while low-quality samples receive less influence in resource estimation. A new dimension, d, is introduced and calibrated to account for sample error and/or volume during estimation. The addition of an extra dimension can be easily incorporated in existing kriging or inverse distance workflows. The only additional parameters required are the sample error and volume for each datum. The methodology is demonstrated and the improvement in local accuracy is documented. Extending the dimensionality of the domain to four (three spatial dimensions and the additional d dimension) requires a valid 4D variogram model; therefore, the spherical variogram model is generalized to arbitrary n-dimensions.

Jan 1, 2011

By D. Lauriski, E. D. Thimons, A. C. Smith, D. C. Fredley

The National Institute for Occupational Safety and Health (NIOSH) and Northwest Barricade LLC (NWB) conducted a study to evaluate the effectiveness of a novel fire blocking gel for use in underground coal mines to extinguish or retard the growth of a coal fire. The gel agent was subjected to controlled laboratory testing to assess its ability to delay coal ignition. It was then evaluated to determine if manual fire hose application could be used to apply the agent to mine roofs and ribs to provide a safe egress for mine rescue teams from a fire area. The gel agent was also evaluated in a water sprinkler system to determine its potential for use in conveyor belt fire suppression systems. The agent was then tested in live-fire exercises to examine its effectiveness in retarding and extinguishing a deep-seated coal fire and wood fire. Lastly, the ability of a mine rescue team to quickly and safely apply the gel agent to a mine entry during a simulated mine fire exercise was determined.

Jan 1, 2011

By C. Wildman

Prospectivity modeling of seafloor massive sulphide (SMS) deposits has been completed over the Kermadec Arc-Colville Ridge area using the GIS based weights of evidence and fuzzy logic modeling techniques. SMS deposits are the current equivalent of ancient onshore volcanogenic massive sulphide (VMS) ore deposits. These high-grade deposits are formed on the seafloor and commonly consist of a black smoker and metal rich sediment mound complex resulting from the discharge of hydrothermal fluids (up to 400°C) from fractures on the seafloor. Metal sulphides are continuously precipitated in response to mixing of high-temperature hydrothermal fluids with ambient seawater. Accumulation of metal sulphides has led to SMS deposits being potentially major sources of copper, zinc, lead and other metals such as gold, silver, which to date remain untapped. Modeling of SMS deposits was undertaken to illustrate the power of GIS modeling for seafloor resource evaluation and how it can be used to quickly identify and rank in terms of the most likely prospective areas of the seafloor where new SMS deposits might exist. The mineral deposit modeling was constrained by the mineral systems concept which defines those parts of a mineralisation system that are critical to the ore-forming process. The deposits are typically formed in extensional tectonic settings, including both submerged tectonic margins and sea-floor spreading. Volcanic vent systems and underlying dykes, stocks and sills are the sources of heat that are responsible for converting sea water drawn down through fractures in the oceanic crust into an ore-forming hydrothermal fluid. This fluid is then capable of leaching metals and elements from surrounding footwall rocks, which are then transported upwards via the convection of hydrothermal fluids. The ore materials are then precipitated within the black smoker field as massive sulphides due to the mixing of high-temperature (250-400°C), metal-rich hydrothermal fluids with cold (about 2°C) oxygen bearing seawater.

Jan 1, 2011

By Marlene Olivares Cruz

The particles that make up the deep-sea sediments have two main sources: 1) those that are created in situ from dissolved components and 2) those that are washed into the ocean in solid phases from the continents, atmosphere, space and interior of the Earth. Many particles as they sink through the water column reaches the seabed and are known as pelagic sediments with terrigenous, biogenic, authigenic, and cosmogenic components. Among the minerals found in the terrigenous fraction of pelagic sediments are quartz, clay minerals, feldspar, micas, ferromagnesians, and the biogenic fraction with remains of siliceous organisms, such as, radiolarian and diatoms. The chemical nature of marine sediments is controlled by the contribution of particulate matter derived from various sources with varying compositions for the fixing of elements during deposition and the compositional changes carried out within the sediments during diagenesis. In the last decade there have been several studies on the mineralogical composition of seabed sediments, suspended particulate materials and cores, together with paleontological and geochemical data are used for paleoclimatic and paleoenvironmental reconstructions, analyze changes in sea level, stratigraphic correlations and identify past and present sources of sediment and terrigenous input pathways and to describe the current ocean mass (Martins et al., 2001, Oliveira et al., 1998). There is also a scientific and economic interest in the authigenic fraction of pelagic sediments formed from other materials for polymetallic nodules. The study of sediments associated with polymetallic nodules helps to know the genesis, evolution and occurrence of these deposits (De Koven et al., 2003, Dubinin et al., 2008).

Jan 1, 2011

By Shenghui Guo, Dongbo Li, Lijun Liu, Chengdong He, Jinhui Peng, Libo Zhang

In present study, partially stabilized zirconia (PSZ) was prepared by CaO doped fused zirconia heated by microwave furnace at the temperature of 1450 oC and holding time of 120 min. The XRD results showed that untreated fused zirconia mainly consists of crystalline compounds of cubic ZrO2 phase; while the roasted one mainly is composed of crystalline compounds of cubic ZrO2 phase and monoclinic ZrO2 phase. It is shown through the optimization of structures of two phases that structure of cubic ZrO2 and monoclinic ZrO2 reject each other, revealing its difficulty in forming coinciding interface and linkage of two phases being of Ca atom. Introduction Due to advantages of zirconia, such as high melting point, chemistry inertia, low heat transmission and so on. Zirconia is always taken as megathermal refractory material[1]. However, in the heating and cooling processes of pure zirconium oxide, martensitic transformation will take place associated with greater shear force and volume change, which severely limits the industrial application of pure zirconia in some areas. Such as: Refractory materials, grinding materials and high temperature insulation materials[2]. Through adding a certain amount of MgO, CaO, or Y2O3 stabilizer, etc.[3,4], the zirconia can change into fully stabilized zirconia, which exists in cubic phase. But this high purity fully stabilized zirconia cracks easily because of thermal stress. Therefore, the thermal shock resistance variation is one of the most important quality indicators of zirconia-based materials. According to the heat treatment, the fully stabilized zirconia can be changed into the partially stabilized zirconia (PSZ)[5], which exists in cubic phase and monoclinic phase and has superior mechanical properties, such as anti-heat, low thermal conductivity, large coefficient of thermal expansion and stability, as well as good wear resistance[6].

Jan 1, 2011

By William L. Rice

This Bureau of Mines Open Pile Report on cobalt is one of a series of minerals availability commodity deposit abstracts. Nonconfidential information from the Minerals Availability Program data base covering domestic and foreign cobalt properties and deposits has been abstracted for use in his report. Abstracts include applicable data on location, published reserves and resources, geology, mine and beneficiation systems, and operation information.

Jan 1, 2011

By M. Meckkey El Sharnouby

In this paper, the results of full-scale field testing of reinforced helical pulldown micropiles (RG-HSP) installed in clayey till soils and resting on sandy soils are presented. Piles were tested under monotonic and two way cyclic lateral loadings. Effect of different loading setups on the results is demonstrated. The factors affecting the piles' performance are discussed. It was found that under monotonic loading the piles were able to sustain displacement up to 50% of the grout shaft diameter. Under low cyclic loading levels, the piles did not suffer degradation in the performance. Also, the degradation rate during cyclic loading increased with the increase of the load level. The experimental results show that the reinforced helical pulldown micropile is a reliable foundation option for lateral monotonic and cyclic loading applications.

Jan 1, 2011

By Jean Cayouette, Paul Blatter, Paul Cousin

"The Laronde mill was commissioned in 1988 and has been treating the Laronde Penna ore since 2000. The Laronde plant, situated in the Abitibi region of Quebec, has experienced mill expansions to accommodate 7500 mtpd and to recover gold and silver as well as important amounts of base metals (Cu, Zn, Pb). Ten sequential metallurgical and environmental processes are responsible for metals recovery and process viability. Over 200,000 ounces of gold, 4,5 million ounces of silver, 7000 tonnes of copper, and 78,000 tonnes of zinc are produced annually.In 2008, the Goldex plant began trucking high grade (35-45 g/t Au) pyrite sulphide concentrate (TCGO) for gold extraction at a newly constructed treatment plant, increasing gold output at Laronde by 40,000 ounces. In 2009, the high gold grade Lapa ore processing facilities were annexed to the Laronde plant increasing output by 120,000 ounces of gold. TCGO and Lapa productions are forecasted until 2018 and 2015 respectively, with known reserves of each mine.Today, up to 140 permanent employees run and optimise the Laronde plant operation. As a result, Laronde has intricacies intrinsic to a large and varied operation. The paper will outline the metallurgical highlights, challenges, and future outlook related to the treatment of each ore type (Laronde, TCGO, and Lapa).INTRODUCTIONFollowing the 2000 to 2003 expansions, the Laronde plant evolved into a mature milling complex with developed processing, man power, and water treatment capabilities able to accommodate the complex Laronde ore. The ore requires a series of grinding, copper/lead flotation and separation, zinc flotation, zinc tails precious metals leaching, followed by a counter-current decantation circuit and Merrill Crowe precipitation. A paste backfill and SO2-air cyanide destruction operate intermittently. The tailings area has a dedicated cyanide destruction and metals precipitation plant prior to water recycling to the mill. A biological water treatment plant was put into service in 2004 to address the build-up of thiocyanate in the tailings ponds at Laronde. This was the result of the high sulphide content of the Laronde ore and 90% recirculation of the process water. The plant uses bacteria to oxidize and destroy thiocyanate, and removes phosphate from the water before it is released to the environment."

Jan 1, 2011

By Jesús E. Gómez

Verification and production testing of soil nails requires debonding the upper section of the soil nail to isolate the portion of the soil nail intended for testing within a specific ground type. In pre-drilled soil nails, debonding can be accomplished relatively easily because the bar can be fitted with a debonding sheath before its installation. However, debonding of hollow core bar soil nails requires special procedures to achieve the intended result. This paper is a summary of the Federal Highway Administration (FHWA) Hollow Bar Soil Nail (HBSN) Test Program, which is described in detail in FHWA-CFL/TD-10-001. The program was developed to establish a suitable debonding procedure to test hollow core bars in soil nailing applications, and to initiate a database on typical bond values of HBSNs. The investigation showed that it is possible to debond hollow core bars for testing. It was also found that hollow core bars installed in granular soils may present ultimate bond values that are significantly higher than those typically used for design of conventional pre-drilled soil nails.

Jan 1, 2011

By Fernando J. A. S. Barriga

Exploration for active seafloor hydrothermal vent fields has been highly successful, and more than 300 such fields have been discovered to date. Some will most probably be mined, given their high metal grades (Cu, Zn, Au and others). However, the current practice detects active systems, and activity rates, not the size of the deposits. This strategy may leave undetected some of the best targets, for several reasons as follows: 1. Large hydrothermal plumes are a measure of dispersion of ore components, not of efficiency in the generation of orebodies; 2. Deposits formed a few hundred years (or more) before present will generally have ceased their activity and will not be detected by plume studies; 3. Deposits formed under a cover rock (up to a few meters of sediments, volcaniclastics, or the like) may exhibit only minor seafloor hydrothermal activity, possibly diffuse flow. Cover rocks will often host hanging wall rock alteration, expressed in geochemical and mineralogical haloes. It has been demonstrated in many instances, especially for deposits formed in the geological past, now exposed on land, that ore genesis under a cover rock is one of the most suitable processes for generating large massive sulfide deposits. One of the great challenges for submarine resource knowledge will be to develop adequate exploration strategies for sizeable orebodies, not necessarily hydrothermal vent fields, sometimes hidden under a cover rock.

Jan 1, 2011

By Sven Petersen

In April 2010 three REMUS6000 series autonomous underwater vehicles (AUVs) have been used to simultaneously map large areas near the Mid-Atlantic Ridge (3°N) axis in water depths ranging from 1,000m to 4,000m. One vehicle was provided by the Leibniz-Institute for Marine Science, IFM-GEOMAR (Kiel, Germany) the other two were provided by the Waitt Institute for Discovery (La Jolla, USA) and managed by the Woods Hole Oceanographic Institute (USA). The REMUS6000 vehicles, manufactured by Hydroid Inc. (USA), are "cigar-shaped" vehicles (4m long and weighing approx. 900kg) and consist of a tapered forward section, a cylindrical midsection and a tapered tail section. An internal titanium strongback, which extends through much of the vehicle length, provides the structural integrity and acts as a mounting platform for syntactic foam, equipment housings, various sensors and release mechanisms. The AUVs can be used in various payload configurations such as multibeam bathymetry, electronic still camera, or subbottom profiler. For these missions the electronic still camera configurations was installed. An EDGETECH 2200M dual frequency (120/410 kHz) side scan sonar was used to map the seafloor, but other frequencies are readily available for more options in resolution and range. The 120 kHz side scan transmitter was used for most missions in order to map large areas (increased range) and to be able to fly at higher altitudes (between 70m and 90m) above the rough seabed encountered in this area. The maximum slant range was between 600m and 700m on both sides resulting in a swath width of up to 1.2 km. Line spacing ranged from nearly 1,000m in flat areas down to 400m in steep terrain. Side-scan mosaics were generated with a 1m resolution. Selected areas were targeted by the higher resolution 410 kHz transmitter as well as by bottom photographs flying as low as a few meters above the seabed. The vehicles navigated autonomously using a combination of inertial navigation (Kearfott T-24 or T-16 INS) and long baseline acoustic navigation by computing their range to two moored acoustic transponders. Working efficiently in this rough topography at speeds above 3 knots was only possible due to the obstacle avoidance capabilities of these AUVs.

Jan 1, 2011