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By N. Staroselsky

"Significant energy savings are often possible for centrifugal compressors operating in parallel by improved control strategy and improved instrumentation. Blow-off can usually be reduced by improved surge control combined with a better control strategy for loading and unloading the group of machines. More precise and stable pressure control then becomes possible. This improved control strategy will also decrease the frequency of operation near the dangerous limits of surge or overload or overspeed. A sample station of mixed centrifugal and reciprocating compressors is examined and a substantial energy saving with the recommended control strategy is projected from operating data. Present Operating Conditions of the Compressed Air StationThe Compressor StationThe compressor station described here has three centrifugal compressors and three reciprocating. It supplies a mine in New Brunswick.Compressed Air and Power ConsumptionFigure I and Figure 2 provide graphs of air consumption and pressure changes based on the owner's data.During the typical two-shift operating day (Fig . I) in the non-productive shift (midnight to 8:00 a.m.), the consumption stays at a level of 9,000 SCFM. This corresponds to a pressure of 110 PSIG. Then, after 8:00 a.m ., the air consumption starts to increase and th e pressure decreases. Around 10:00 a.m., the consumption reaches its maximum level at 97 PSIG. Around II :30 a.m., the air consumption starts to decrease because of the production drop during the lunch break of the first shift. Pressure increases again up to 109 PSIG. After the break, consumption rises to its maximum level over 16,000 SCFM andpressure drops to 97 PSIG.Around 2:30 p.m., the air consumption drops sharply to 9,000 SCFM because of the production decrease to zero level. This drop results from changing of shifts. The pressure at this time increases again up to 110 PSIG. The second shift (2:30 to II :30 p.m.) is an alogous to the first.During the three-shift operating day, the break around 4:00 . a.m . and the shift change around 6:30 a.m. cause sharp drops in air consumption. The pressure for almost the entire night shift stays near 110 PSIG because the station is working with blowing-off even under the maximum consumption. The analysis of Figures I and 2 shows that the pressure varies with the air consumption changes. During non -productive time (non-production shifts , shift changes and breaks) or during the night shift, the total station capacity is proportional to the discharge pressure. By decreasing the level of this pressure up to 97 PSIG, the flow of the station may be decreased during the non-production time as follow s:"

Jan 1, 1980

"Coupon testing has been used to investigate stress corrosion cracking (SCC) of rockbolts in a laboratory based experimental program. This program has focused on the use of ASTM G39 three- and four-point bent beam coupon specimens, immersed in an acidified sodium chloride test solution containing hydrogen sulfide. The specimens were loaded to a range of stresses from zero, to just above the materials yield strength. It was found that only specimens above an applied stress of 580MPa failed by means of SCC, showing that rockbolts loaded to near their yield strength may be susceptible to SCC in-situ.INTRODUCTIONStress corrosion cracking (SCC) is a failure mechanism that affects material through the growth of hairline cracks when exposed to a corrosive medium while under stress (Jones and Ricker, 1999). SCC has been found to affect rockbolts in the Australian underground coal mining industry and has the capacity to cause the catastrophic failure of ground support systems, potentially leading to falls of ground in underground excavations, injury or death to mine personnel, damage or loss of equipment, and loss of productivity through the loss of roadway access (Crosky et al, 2002).Coupon testing utilises small scale samples that are intended to be indicative of the behaviour exhibited by a material in-situ (ASTM G39). The small scale, and usually high surface area to volume ratio of coupon specimens mean that they corrode at faster rate proportional to their mass, greatly reducing testing times. The small scale of the specimens allows them to be more easily prepared and handled, loaning them to mass manufacturing techniques.A previous study conducted by Vandermaat et al (2012b) into the use of three- and four-point coupon testing in-situ in an underground coal mine failed to result in SCC of the specimens. This paper serves as a follow up laboratory investigation in order to understand why these specimens did not fail. Previous studies into the SCC in rockbolts carried out by Gamboa and Atrens (2003) determined that rockbolt steel has a critical stress threshold of approximately 90% of the material ultimate tensile strength (800-900MPa). This study will focus on this critical stress threshold as a possible explanation for the lack of failure in the in-situ specimens (Vandermaat, 2012b)."

Jan 1, 2015

By B. S. Ignasiak, B. N. Nandi, D. S. Montgomery

The growing need to measure the extent of weathering of coking coal in storage and in transit prompted the comparison of the dilatation of coking coal on heating, which is known to be a sensitive index of oxidation, with the composition and volume of the gases produced by a mild pyrolysis of the same coal. It was found that the pyrolysis method had the advantage in that it could be used to study coking coals in advanced stages of oxidation, when the swelling properties had been largely destroyed. Of the various constituents in the pyrolysis gas, the most sensitive indication of coal oxidation was the volume of carbon monoxide evolved per gram of coal. For the coals examined, this index appeared to be at its best when the temperature of pyrolysis was approximately 35oC.

Jan 1, 1970

By A. Jafarnia

Aluminum alloys are frequently grain refined during solidification in order to promote the formation of an equiaxed grain structure in the casting. The application of Ti-based grain refiners and/or Ti containing master alloys for improving mechanical properties may result in formation of Al-Ti based intermetallics. Although the grain refinement produces many desirable qualities in aluminum castings such as improved castability and mechanical properties, the addition of Ti to Al-Si foundry alloys may lead to the formation of some undesirable intermetallic particles such as AlTiSi and cause a number of operational problems such as nozzle blockage due to segregation and agglomeration of aluminide particles within the nozzle. There are several questions to be clarified when minor amount of Ti is added to Al-Si alloys. They include nucleation and growth of AlTiSi particles, their morphologies and orientation relationships with aluminum matrix and the dissolution of these intermetallics during the course of solidification and/or post solidification treatments. The current study was initiated to study the process and possible mechanism of aluminide dissolution and the related phenomena such as segregation and agglomeration. It reports the results found during reheating of laboratory prepared Ti-added A356 alloy at three temperature ranges of below solidus, mushy zone and above liquidus.

Jan 1, 2004

By R. D. Livingstone

"THE LETHBRIDGE COAL FIELD lies mainly .to the north and west of the city of Lethbridge. Mining carried on in this area for over eighty years until 1965. Before the building of a railway the coal was carried by bullock wagon to Montana for use in smelting, and for a while by river boat to Medicine Hat for railway use. The single, almost flat, worked seam is designated the ""Galt"" seam and is about 1.5 metres thick. It belongs to the Belly River formation and is under cover of 80 to 180 metres of weakly stratified sediments. A complex system of cross faults adds to the mining difficulties. Close timbering required in the entries and rooms reflected in a high timber cost and lower output per man shift. The coal is High Volatile"" C"" bituminous in rank with maximum gross calorific value of 11,200 Btu per pound and with a well defined cleavage. Roof conditions in the field range from very tender and very heavy on the south end of the field and west of the Oldman River to a more stable character to the north. Relatively speaking, the whole field would earn a rather tender rating and definitely so in relation to many U.S. fields. Floor conditions are characterized by a bentonitic type heaving in the south end of the field west of the Oldman river to a more stable situation in the north, which can tolerate shuttle car operation if kept drained. Water problems are minimal, except paralleling the Oldman River, where the seam dips below the river level. While vigilance is necessary to prevent accumulations of gas, the volume is rather limited. The seam was entered by shafts, except where small mines were located along the Oldman river banks and gained access by drifts. The coal seam was developed by driving either 3 or 4 Face entries 2 1/2 metres (8 ft) wide on 18-metre ( 60-ft) centres. Sets of dual butt entries driven at right angles to the Face entries completed development work. Normally rooms up to 8 metres wide were turned off the butt entries on up to 11 - metre centres. These were worked in groups of three to five, depending on the roof conditions, and normally advanced 60 m (200 ft). In some areas rooms had to be abandoned short of their objectives due to roof pressure, heaving floor and intermittent work."

Jan 1, 1985

By G. R. Guillet

Important resources of kaolin, refractory clay and lignite, not found elsewhere in Ontario, occur with quartz sand of glassgrade quality in unconsolidated Mesozoic sediments of the Moose River Basin in northeastern Ontario. These materials comprise the Mattagami Formation of Lower Cretaceous age, which overlie in some places a thin Jurassic unit and a thick Paleozoic section, and underlie as much as JOO m or more of glacial and marine sediments and a uniform capping of muskeg. The Mallagami Formation is known from deep boreholes to exceed 100 m in thickness and to consist of two phases: an earlier Type A unit of dark-coloured carbonaceous clays and lignite, and a later light-coloured (Type B) unit of kaolin-bearing quartz sands and bright-coloured refractory clays. Remoteness, poor access, and difficult physical environment have inhibited the exploration and development of these resources.

Jan 1, 1984

By M. Piboule et J. M . Charbonneau, C. Picard

In the western part of the Chapais syncline (Abitibi-east, Quebec), the lava flows belonging to the Haliy Formation separate in two distinct sequences. The basal sequence contains prophyri tic metabasalts of calc-alkaline af f inity overlain by porphyritic metatrachyandesites and metatrachytes of alkaline to shoshonitic affinity. The upper sequence contains porphyritic metabasalts similar to those of the basal sequence along with highly potassic metaandesites trending to a subalkaline affinity. A geochemical study of trace and REE elements established that the composition of these lava flows results from a mixing or contamination process. The primitive tholeiitic liquids which are enriched in LREE were modified by the addition of a crustal contaminant enriched in Y, Zr, Th and K20. The magmatic liquids resulted from successive steps in the admixing process, evolved by fractionated crystallization. The mechanism of gradual admixing seems to be the major cause of the observed ea le-alkaline characteris ties and may also be the cause of the alkaline to shoshoni tic affinity in those lavas. The tendency to differentiation by fractional crystallization reveals the tholeiitic character of the primitive liquids.

Jan 1, 1984

By S. E. Jackson, L. J. Cabri

Quantitative determination of gold at sub-ppm concentrations in sulphide minerals is an important component of deportment studies for sulphide-gold deposits. Laser Ablation Inductively Coupled Mass Spectrometry (LA-ICP-MS) analysis is preferred for this application because it rapidly and cost-effectively provides spatially resolved (<20 pm), low ppb concentration data for gold and other elements in mineral grains. Recent advances in LA-ICP-MS analysis include the development and application of elemental mapping. Raw signals from multiple line scans or lines-of-spots are deconvoluted and calibrated to generate elemental maps which provide detailed information on spatial variations of gold and other elements within and between grains.

Jan 1, 2011

By Mohan R. Srivastava

- OUTLINE - apologies and explanations - a quick bit of history - the wisdom of Wikipedia - ?Matheronian geostatistics continued to convert Bre-X?s bogus grades and Busang?s barren rock into a massive phantom gold resource?? - variogram analysis for Busang - would variogram analysis (or variance analysis) have revealed the fraud? - what went right, what went wrong

May 1, 2007

By Young C. Kim

A proper economic analysis of pit slope design must reflect the trade-off between the benefits and the increased risk of slope failure inherent in steeper slope angles. However, no formal framework for a proper analysis has existed to date. This paper summarizes the material contained in the Design Chapter Supplement (5-3) of the Pit Slope Manual. The supplement describes the results of the research effort in which a formal economic analysis framework was developed and tested through a case study. The case study results have demonstrated the practicality of the developed procedure and the availability of required data under "real-life" conditions.

Jan 1, 1979

By N. P. Hristov, L. V. Kuzev

"A simulation study of the fill factor of a drum mill was conducted using two types of grinding media: balls and tetraballpebs. Each medium was composed of equal number of grinding bodies having equal weight but different shape. The difference was in the density of the two grinding media.Standard spherical grinding bodies (balls), which were used in practice, and equivalent (by weight) grinding bodies in the shape of spheroidal tetrahedrons (tetraballpebs) were studied. The simulation was conducted in a module of a 1.2 m diameter drum mill, whose length exceeded twice the diameter of the corresponding grinding body. The grinding balls had a few percent (3 to 6) higher fill factor than the grinding tetraballpebs in the same shell.Vertical sections of the grinding medium were taken across the studied shell module along its axis. They showed the location of each grinding body in the fill volume. Defects in the packing of the grinding bodies and the contacts between them and with the inner surface of the shell were also show. Differences in the contact points of the balls and the tetraballpebs were noted. For the tetraballpebs, we observed contacts both between the spherical surfaces and with the edges and vertices of the grinding bodies.The topography of the grinding media is shown visually.INTRODUCTIONThe grinding balls have been studied extensively. It is the traditional grinding medium in ore processing industry. The parameter characterising the grinding medium is its density. It is the mass of the grinding medium per unit of volume. The parameter may have a range of values. It depends on:• The physical properties of the material they are made of;• The shape of the grinding body;• The dimensions of the body;• Size distribution of the grinding bodies in the grinding media.In comminution, the fill factor of the mill shell is the process parameter that is representative of the grinding medium. Some publications have indicated the disadvantages of ball grinding. For example, Wu, Xiang, Glen, and Duan (2008) note in the analysis of the mechanism of grinding that the balls are not the best grinding media and disadvantages include among others:• Easy over-grinding resulting from the point contact between the balls;• Attrition surface is the smallest in the grinding media;• Poor selective exposure of minerals resulting from the accidental and often significantly more powerful impact on the feed;• The grinding efficiency drops as the fineness of grind is increased;In the Handbook of mineral processing, Polkin (1950) noted that the shape of the grinding bodies determines the volume of the void spaces therein and therefore the shape affects the grinding efficiency per unit of volume of the grinding medium."

Jan 1, 2016

By J. Keith Haddock

"The Luscar Mine is a metallurgical coal mine located in the foothills of the Canadian Rockies, 41 km southeast of Hinton, Alberta. The mine is operated by Cardinal River Coals Ltd., a 50/50 joint venture between Luscar Ltd. and Consolidation Coal Company of Canada. The mine produces a high quality medium volatile metallurgical coal which is sold on the export market principally to Japan and South Korea. Operations consist of a surface mine with capacity to produce 3.0 million tonnes per year and an underground mine which is currently mothballed due to market conditions.GeologyBedrock units within the Luscar minesite are of Devonian to Upper Cretaceous age. The commercial coal measures in the area are, however, confined within the Lower Luscar Formation. The Luscar Formation consists of a 460-metre thick sequence of interbedded sandstones, shales and coal seams. The sequence is primarily deltaic in origin, and is bounded to the north and south at the Luscar mine by tectonically induced thrust faulting.The only mineable coal seam at Luscar is referred to locally as the Jewel seam. Average thickness of this coal measure is usually 10.5 m to 14 m, although in some areas folding and faulting has produced ""pods"" of coal from 15 m to over 40 m thick while in others the structural deformation has thinned the coal to 3.0 m to 4.6 m. Waste within the Jewel seam seldom exceeds a metre of shale, carbonaceous shale or infrequent sandstone stringers.Reserves and Coal QualityProven surface mineable reserves, based on pit scheduling through 1996, are 50.8 million raw tonnes. An additional 19.2 million raw tonnes are contained in possible extensions to the present planned operations. These surface mineable reserves are considered to be those reserves within 155 m of the surface. Underground reserves, located within 770 m of the surface show that 25.7 million raw tonnes have been proven to date in additon to 27 .5 million indicated and 260 miIJion inferred.Coal specification at Luscar Mine is as follows:"

Jan 1, 1985

By F. Y. Hsiao, H. C. Kao

Underground excavation in hard rock is normally stable at shallow depth except for wedge failure. However, the excavation depth is rapidly increasing recently. In high overburden stress condition, the integrity of rock would be destroyed with degrading rock strength. Therefore, understanding both the peak and the post-peak strengths of hard rock are necessary to assess the tunnel stability at depths. The characteristic of the post-peak strength is seldom studied in Taiwan in the past. Various estimation methods for the post-peak strength degradation were briefly reviewed in the paper. Based on the Geological Strength Index (GSI) system is widely used in the determination of the rock mass strength, the quantitative residual GSI system was adopted to estimate the possible strength degradation for a hydraulic tunnel in Taiwan. The Mohr-Coulomb model (no strength degradation) and the post-peak strength degradation model (strain softening model) were used to simulate the excavation of the case tunnel at different depths. The analyses demonstrate that the tunnel is in stable condition at 600m of depth. And the effect of the postpeak strength degradation on tunnel deformation is progressively significant with increasing tunnel depth. Approximate 3-5 times of increase in crown settlement and horizontal convergence would occur when post-peak strength degradation are considered at 2400m of depth. Severe tunnel deformation may endanger the tunnel stability. Modeling results reveal that the post-peak strength degradation has a great effect on tunnel stability under high overburden stress condition, which should not neglect in deep tunnel design.

Jan 1, 2015

By S. F. Guo, B. W. Zheng, X. L. Huang, S. W. Qi

"The study of mechanical characteristics of rock discontinuities under different shear deformation velocities is an important premise of rock slope dynamic response analysis. According to disposing and calculating the experimental results of previous research about peak shear strength of rock discontinuities under different shear deformation velocity of constant normal loading, the law of influence of shear velocity on the total friction angle is studied. Based on the research results, it can be found that the total friction angle of rock joint specimens varies in the form of negative logarithm with the variation of shear deformation velocity. It’s also indicated that the total friction angle of rock joints decreases with the increase of shear deformation velocity for rock joints of relative strong homogeneity and isotropy. However, the total friction angle of rock joints increases with the increase of shear deformation velocity for rock joints of relative strong heterogeneity and anisotropy and the latter amplitude of increase is less than the former amplitude of decrease. The physical property and microscopic geometry of rock joints play an important effect on the increase or decrease tendency and amplitude variation of total friction angle with the increase of shear deformation velocity.INTRODUCTIONThe rock slope dynamic response is largely restricted by rock discontinuities. Hence the study of dynamic characteristics of rock discontinuities, especially the dynamic shear characteristics is an important premise of rock slope dynamic response analysis (Qi et al., 2007). Seismic load is both dynamic load and cyclic load (Liu et al., 2011). Under the dynamic and cyclic shearing actions of seismic load, the rock slope which is stable under the condition of static load may slide along the rock discontinuities whose shear strength reduce and then the earthquake landslides occur. The strength degradation and deformation mechanism of rock discontinuities under the dynamic and cyclic shearing actions is one of the key problems to be solved in the work of earthquake prevention and control of engineering slope. Based on the above understanding, predecessors conduct some researches which focus on the shear behavior mechanical characteristics of rock joints under cyclic shearing actions (Plesha, 1987; Hutson & Dowding, 1990; Jing et al., 1992, 1993; Huang et al., 1993; Qiu et al., 1993; Homand et al., 2001; Lee et al., 2001; Jafari et al., 2003; Liu et al., 2011, 2013). However, there are a few researches about the mechanical characteristics of rock joints under different shear deformation velocities because of the restriction of shear apparatus. Crawford and Curran (1981) conducted a series of one-way cyclic direct shear tests on four kinds of natural rock joints under different shear deformation velocities varying from 0 to 200 mm/s. The tests showed that at low normal stresses the peak shear strength of soft rock joints exhibited an increase up to a certain velocity, after which it remained essentially constant. For rock joints of intermediate hardness, the peak shear strength was essentially independent of shear deformation velocity; whereas for hard rock joints, the peak shear strength of which showed a significant variation with the shear deformation velocity. Jafari et al. (2003) carried out a series of conventional triaxial tests on artificial rock joints of regular saw-tooth shape with axial loading rate from 0.05 mm/s to 0.4 mm/s."

Jan 1, 2015

By M. Mirnezami, J. A. Finch, M. S. Hashemi A.

This study examined the effects of pH and sulphate concentration on the surface charge and stability of alumina and pyrite dispersions. The relationship between these properties was investigated using measurements of electrophoretic mobility and settling velocity. The maximum aggregation for both minerals was observed near the iso-electric point (iep) where the force of repulsion is at a minimum. Aggregation decreased at pH values away from the iep, where an increased surface charge causes electrostatic repulsion between particles. Zeta potential data revealed that sulphate ions were adsorbed only on positively charged surfaces for both minerals. Adsorption of sulphates on the alumina surface increased aggregation by reducing the surface charge from >+25 mV to close to zero. These results indicate an electrostatic bonding of sulphate ions to alumina surface. Preliminary results on the interaction of pyrite and sulphate ions indicate a similar response.

Jan 1, 2004

By Shigeru Sarata

A wheel loader is one of the main loading machines in open pit mines. The authors have been conducting research and development on autonomous operation of loading by a wheel loader. The most common loading method by a wheel loader is the ?V shape? path method. The loading operation consists of cycles of scooping from the pile, traveling to the dump truck, loading on the dump truck and return traveling to the scooping point for the next cycle. The traveling path includes a switchback in the middle of the path. The moving direction of the loader is changed at the switchback point. From observation of V shape path loading operations by experienced human operators, it seems that they control the bucket position between the scooping point and loading point on a shorter path for higher productivity. A new path planning method is proposed this paper, whereby a point on the center of the tip of the bucket is controlled moving from the initial point and the final point. The motion of the controlled point is generated by the wheel steering the wheel loader. The controlled point is moved along the direction to the final point; however, the motion and mechanism of wheel loader have restrictions, such as the velocity of the loader, the steering angle, and the steering angular velocity. Because of these restrictions, the path of the controlled point is not a straight line between the initial and final points. When this control method is applied between the scooping and the dumping points directly, the planned path is not stable in the leaving wing of V shape path. Therefore, the initial position of the wheel loader is set at the switchback point, then two approach wings to the scooping and the dumping points are made. The whole planned path is obtained by connecting the two paths. The shape of the planned path is strongly affected by the position of the switchback point, as well as the scooping and the dumping points. By simulation of path planning at different switchback points with the combination of the scooping and the dumping points, the paths for more effective loading are determined. The results of the simulation are presented in the paper.

Aug 1, 2013

By A. O. Orumwense

Mill circumferential speed, the number of passes of pulp through the grinding chamber, media type, size and filling ratio were investigated in an attempt to determine how to effectively grind copper concentrates in a stirred mill. The stirred mill product fineness was enhanced to some extent by decreasing media size, high media filling, and an increased number of passes of the pulp through the grinding chamber. Shape also plays a major role in grinding media effectiveness, with spherically shaped media producing a finer size. The fineness of the product increases with increasing power consumption but the method of energy transfer is very important in energy utilization. The effect of the mill parameters on copper flotation was evaluated. Copper recovery was influenced by grinding media size, mill speed and the number of pulp passes through the grinding chamber.

Jan 1, 2006

By Doug Russell

Natsource: At a Glance l 160 employees l Global reach ? New York, Washington, Calgary, Ottawa, Toronto, London, Tokyo l Major Environmental Commodity Broker ? Rated as Top GHG Broker (Environmental Finance Magazine Survey, Dec. 2000 & 2001) ? Leading RECs Broker ? Large Broker of SO2, NOx l Large Energy Broker ? One of Highest Volume Gas Brokers ? Major Electricity Broker Overview l International Market l Implementing the Rate-Based Proposal l Assessment and Management of Risk from GHG Emissions Limitations

Nov 1, 2002

By Chia-Chi Chiu, Meng-Chia Weng, Tsan-Hwei Huang

"This paper proposes a biconcave shape bond model for the distinct element method (DEM) to simulate cementation between two circular particles in geomaterials. Rather than an original parallel bond model between particles, the proposed model adopts the more realistic shape of cementation and considers the elastic response of cementation under external loading. The stress field and force-displacement relationship of the biconcave shape bond is based on Dvorkin’s theory, and three modifications are adopted: (1) A superposition method is applied to improve the correctness and symmetry of the stress field, and it also provides a method of addressing the status when both connected particles rotate; (2) To simplify the input parameters, the tangential movement is replaced by the normal deformation and rotation between particles; (3) To accelerate the calculations, variables are extracted in analytical procedures, which provide an efficient method for applying the bond model with only one matrix inversion. With these three modifications, the new biconcave shape bond model is created.To assess the validity of the proposed model, this study compared the elastic deformation in a single bond with an elastic analysis performed using the finite element method (FEM). After verification of the proposed model, a series of sensitivity analyses was performed to explore the effect of bond shape and the differences from the parallel bond model. For a single bond, the results showed that a biconcave model can represent the mechanical behavior of a biconcave shape bond and is effective with different bond shapes. The stress fields calculated by the biconcave model were more similar to the FEM results than those obtained using Dvorkin’s theory. The width and thickness of a bond have a considerable effect on its stiffness, and the variation of thickness decreases with the width of the bond. In addition, the required parameters can be acquired directly from real bond material rather than using the back analysis procedure for parameters.The biconcave model was further implemented in DEM software Particle Flow Code 2 Dimension to certify its applicability in geotechnical engineering. Using this model, a series of uniaxial compression test simulations was performed to analyze the macroelastic responses of specimens. The results showed that the macrotangential elastic modulus and Poisson’s ratio had a regular tendency, and they agreed with the stiffness variation in a microbond. This finding can assist in determining correlations between microand macroproperties and provides an innovative method for simulating the behavior of cemented granular material."

Jan 1, 2015

By Gary M. Bone

The autonomous control of vehicles interacting forcibly with their environment, such as dozers and tractors, is an unsolved and challenging problem. Forces and motions are inherently coupled between the tool and the means of vehicle propulsion. Furthermore, they are often operated within uncertain and unstructured environments, such as those encountered in underground mining. There is a growing industrial interest in the development of robotic vehicles to improve productivity, efficiency and safety in mining and construction. This paper focuses on the modeling and control of autonomous robotic dozing for a material removal operation. A dozing process model has been developed based on observations of both a fullscale dozer and a scaled-down version. The model characterizes the dynamic interactions between the blade position, material accumulation on the blade, material distribution in the environment, and the motions of the dozer. The dozing control objective is to remove the loose material as rapidly as possible by driving forwards at full power while automatically raising/lowering the blade in response to sensor measurements. Two different controllers were developed to meet this objective. The first controller is based on a set of heuristic rules, and the second is an optimal controller based on the dynamic model. An instrumented scaled-down robotic dozer and dozing environment, designed to emulate the full-scale operation, are used to implement the controllers and compare their performances over multiple dozing passes. Experimental results are presented showing that the model-based controller increased the material removal rate by 33% compared to the rule-based controller. Lastly, technologies for full-scale implementation are discussed, followed by proposed future work and conclusions.

Aug 1, 2013