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By A. E. Aho

"The Pacific Nickel property lies 7 miles northwest of Hope and 100 miles east of Vancouver, in the Coast Mountains of southwestern British Columbia. Nickel-copper sulphides were discovered in ultrabasic rocks on this property in 1923 and the deposits were explored by Pacific Nickel Mines until 1937, then again between 1951 and 1954 by Pacific Nickel Mines and by Newmont Mining Corporation through its subsidiary,Canadian Ore DepositsWestern Nickel. The property was studied by C. E. Cairnes (1) in 1924, by W. E. Cockfield and J. F. Walker (2) in 1933, by H. C. Horwood (3), (4) in 1936 and 1937, and by the writer in 1951 and 1952. Except for a few thousand tons for trial shipments, the property has never been mined. Indicated ore reserves now total somewhat over one million tons averaging about 1.4 per cent nickel and 0.5 per cent copper, with lesser values in precious metals and cobalt.GEOLOGIC SETTINGThe nickeliferous ultrabasic rocks form part of the core of a 15-milewide block of Late Palæozoic metamorphic rocks and Mesozoic intrusives which extend north-south between the coast batholith of British Columbia and the Chelan batholith of Washington. Margins of this block are faulted in part against less metamorphosed volcanic and sedimentary rocks largely of Jurassic and Lower Cretaceous age (Geo/. Surv., Canada, Map 737 A, 1942). Serpentinites, suggestive of deep transgressive structure, occur within the block, and also at its east margin along faults which are southern extensions of the regional Yalakom-Fraser River fault zone. Some of the other mineral deposits in the Hope area appear to be spatially related to these major faults.The mineralization at Pacific Nickel occurs almost exclusively within a stock-like mass of ultra basic rocks which mingle with, and partly cut, a larger batholithic mass of genetically related diorites and norites of late Mesozoic age (Figure 1 ). The ultra basic mass consists essentially of fresh, medium-grained hornblendic pyroxenite with peridotitic cores and with a remarkable margin of pegmatitic hornblendite. The most hornblendic rocks appear to be chiefly products of reaction and replacement of the pyroxene and olivine rocks. The mineralization consists of disseminated and massive pyrrhotite, with subordinate pentlandite and chalcopyrite, amongst fresh olivine, bronzite, and, Jess commonly, augite and hornblende. Both the ultrabasics and mineralization are cut by small hornblenditic and dioritic dykes, and by veins and alteration zones."

Jan 1, 1949

By E. C. Goodhue, R. D. Coleman, I. E. Puddington, A. F. Sirianni

Iron ore samples containing apatite are fractionated to acceptable products by spherical agglomeration methods. The phosphorus is upgraded by a factor of 10 at an elevated pH. High-grade iron products are obtained in good yields from the tailings in a second step of the operation. The grade of the phosphorus separated appears to reach a maximum at about pH = 10; recovery of iron decreases below about pH = 4. Both the recovery and grade of iron are found to be reduced sharply above about pH = 8.

Jan 1, 1968

By P. Cavanagh

Summary This paper discusses the fundamental principles which allow the development of a new method for studying the deformation and failure of metals in terms of 'internal microstrains'. Internal microstrains mechanical and magnetic properties are defined and their influence on of metals is outlined. A research programme at present in progress will determine whether magnetic measurements of internal microstrains give sufficiently accurate values for predicting the performance of metals under service conditions. These magnetic test techniques are also being used to detect the beginning of plastic deformation and to trace the development of deformation processes and failure. Results of the experimental work in each field will be published. Introduction Any attempts are being made to develop a complete theory embracing the mechanical behaviour of metals. In spite of the amount of experimental data available, the theoretical approach is rather difficult, since most of the mechanical properties of a metal are determined by deviations from the pure chemical composition or the perfect crystal. Both types of deviation are difficult to reproduce experimentally and to describe theoretically. In general, there are three main avenues of approach to the problem being followed today.

Jan 1, 1950

By Ki-Bok Min, Seokwon Jeon, Seung-Beum Choi, Taehyun Kim

"In order to investigate anisotropic characteristics of Boryeong shale in Korea, which clearly shows transverse isotropy, a series of experimental tests were carried out. Using Brazilian test, five elastic constants and tensile strength of the shale were evaluated. Elastic constants were determined by iterative procedure and in order to perform this procedure, constitutive model was modified to fit the experimental condition. The anisotropic ratios of elastic constants were evaluated and the applicability of the methodology was assessed. Apparent Brazilian tensile strength profile was investigated and the ratio of the maximum to minimum tensile strength was estimated. Results showed that the tested rock type had low to moderate anisotropic characteristics.INTRODUCTIONMechanical, thermal and hydraulic characteristics of many rocks vary according to direction, which is known as inherent anisotropy, and it is originated from stratified and/or foliated structure of intact rock and discontinuity of rock mass. Anisotropy is one of the long standing issues of rock mechanics field and it has to be taken into account in several engineering fields such as civil, mining and petroleum engineering. An anisotropic medium has 21 independent elastic constants without any assumption of symmetry. If a material has any symmetry, the number of elastic constants required to define its behavior reduces and eventually two constants are necessary if it has complete symmetry, which is known as isotropy. An anisotropic medium that has remarkable planar structure due to its stratification and foliation such as bedding is often called as a transversely isotropic medium. Transversely isotropic model is frequently adopted in many applications especially for sedimentary rock formation and five elastic constants are required to establish the constitutive model."

Jan 1, 2015

By Donald MacFadgen

Since 1950, a total of 164 miles of levels and rooms have been roof-bolted in the collieries of the Dominion Coal Company. Roof bolting is an efficient and economic method of sup-port where heavy timber sets or steel booms are necessary for temporary roof support, or where conventional methods of support interfere with the passage of mechanical mining equipment. This paper discusses present roof bolting practices and special bolting applications. THE practice of roof bolting in be collieries of the Dominion Coal Company dates from 1950, when preliminary studies and experiments were carried out in a mechanized room and pillar section of Dominion No. 20 Colliery. These studies were made in close liaison with members of the United States Bureau of Mines who were conducting similar studies. Following the successful application of roof bolting in No. 20 Colliery, this method of roof support was introduced into other collieries

Jan 1, 1963

By D. Naden, D. J. King

"The high capital and operating cost of liquid-solid separation circuits in hydrometallurgical plants has led to an increased focus on the use of in-pulp systems for metals recovery in order to eliminate the need for solids washing and to reduce the need for liquid-solid separation.Carbon-in-pulp (CIP) has now been accepted in Canada and around the world as the leading process for recovery of gold and silver, replacing the Merrill-Crowe process and thus removing the need for CCD thickeners or belt and drum filters. The overall design of conventional CIP adsorption circuits was established in the late 1970s and it has remained substantially unchanged until now. Most of the development work since 'hen has been concentrated on improving methods of separating pulp and carbon and on reducing carbon losses during transportation and agitation.Resin-in-pulp (RIP) has been used for many years in uranium mills in the USA. However, most of the plants were built in the 1960°s and RIP was only chosen when liquid-solid separation of leach pulps proved very difficult. The plants are far from ideal as they have high resin losses and high maintenance costs. Consequently, there is room for improvement.Davy McKee has taken a fresh look at the engineering development of in-pulp contactors leading to a fundamental redesign of the adsorption units. The improved in-pulp technology uses a modification of the proven air-swept screen techno1ogy together with a new technique of process operation. The new contactor operates at high pulp throughput rates with high concentrations of carbon or resin in the recovery stages, resulting in a significant reduction in the contactor size over conventional design. As a result of this reduction in the size of the contactor by up to 80%, significant savings can be made in equipment and building costs. In addition, the plant 1s easier to operate than a conventional CIP plant."

Jan 1, 1987

By M. Drozd, M. Somppi, Z. F. Yamak

"Activated carbon is used to recover gold in solution from various gold circuit designs including carbon-in-pulp (CIP), carbon-in-column (CIC), and carbon-in-leach (CIL) processes; however, the characteristics and durability of the activated carbon can vary. Handling this medium poses challenges when fine carbon losses occur in the CIP, CIC, and CIL circuit discharge. Additionally, adsorbed gold on carbon fines can be lost to the discharge. The studies in this paper aim to standardize laboratory methods for testing activated carbon qualities specific to the gold industry. The investigation focused on size distribution, platelet content, wet attrition resistance, gold kinetics, and gold loading. The results demonstrate that a 96 h attrition test and a gold loading test form a basis for ranking carbon samples based on expected economic performance of the plant. ¦ KEYWORDS Activated carbon, Carbon attrition, Carbon ball-pan hardness, Carbon evaluation, Carbon fines loss, Carbon turnover RÉSUMÉ Le charbon actif sert à récupérer l’or en solution dans diverses conceptions de circuits de broyage d’or, notamment les procédés de charbon en pulpe (CIP, de l’anglais carbon-in-pulp), de charbon en colonnes (CIC, de l’anglais carbon-in-column) et de lixiviation au carbone, ou charbon au lixiviat (CIL, de l’anglais carbon-in-leach). Toutefois, les caractéristiques et la durabilité du charbon actif varient. La manipulation de ce milieu pose des problèmes dès lors que se produisent des pertes de carbone à grain fin dans la décharge des circuits CIP, CIC et CIL. Par ailleurs, l’or adsorbé sur les fines de charbon peut se perdre durant la décharge. Les études réalisées dans le cadre de cet article visent à normaliser les méthodes de laboratoire pour tester les qualités du charbon actif spécifiques au secteur de l’exploitation aurifère. L’étude portait sur la composition granulométrique, la teneur des plaquettes, la résistance au frottement humide, la cinétique de l’or et l’adsorption de l’or, à savoir la capacité du charbon actif à adsorber l’or sur une période spécifique. Les résultats ont montré qu’un test de frottement de 96 heures et un test d’adsorption de l’or constituaient le fondement d’un classement des échantillons de carbone du point de vue économique en vue de trouver l’échantillon générant le meilleur rendement des usines. ¦ MOTS CLÉS charbon actif, dureté de la batée des billes de carbone, évaluation du carbone, perte de fines de charbon, renouvellement du carbone, résistance au carbone INTRODUCTION The use of activated carbon for gold extraction is among the most common processes in modern gold-milling plants. Although gold losses are inevitable in the milling process, operators often focus on reducing gold loss to tailings. One focus area that is important in gold recovery is optimizing the use of activated carbon and examining potential changes to realize improved economics for carbon-in-pulp (CIP), carbon-in-column (CIC), and carbon-in-leach (CIL) processes. Granular activated carbon (Figure 1) is widely used for gold extraction from slurries containing gold-cyanide complexes. This activated carbon—produced from charred coconut shells—is well suited because of its adsorption kinetics, gold-loading capacity, attrition resistance, and ability to be reactivated. The extraction process using activated carbon technology involves adsorbing gold from an aqueous leachate; the gold is dissolved using a cyanide salt and consequently a dicyanoaurate(I) ion (Au(CN)2–) is formed, as noted in equation 1."

Jan 1, 2019

By CRO CRO

Elk Valley Coal?s Cheviot Project is located in the Alberta foothills south of the town of Hinton. The mine has been in operation now for the 3 years. The start up and subsequent operation of the Cheviot project has been directly influenced by the Cardinal River Mine. As the Cardinal River Mine was winding down due to reserve depletion in 2004, the price of seaborne traded metallurgical coal jumped to record levels and customers began aggressively seeking new sources of supply. Several months later, the owners of Elk Valley Coal decided to begin mining at the Cheviot mining area, extending the life of the area?s operations by over 25 years. The Cheviot Project had been delayed by low coal prices, ownership changes and a complicated and lengthy regulatory process fueled in large measure by stiff opposition from a number of major environmental organizations. Chief to the startup of the project was the construction of a 23-kilometer-long haul road that would connect the new coal measures to the existing Cardinal River processing and rail facilities. Construction of this road was completed with the first coal truck making its first trip in October 2004. This paper will look at some of original assumptions, the actual mining experiences and the lessons that were learned while moving from the drawing board to the current development as it exists today.

May 1, 2007

By Paul J. Beck

The impact of mining development on the environment can be minimized through comp careful construction and accurate monitoring. Key to meeting these objectives is t information at all stages of design, development, operation and decommissioning. This paper will describe cost-effective means of gathering and managing reliable fiel groundwater flow and surface water regime within and surrounding the mine site, as localized contaminant plumes associated with mine operations, and monitoring ground quality. Recent research has led to the development of inexpensive, easy to install syst sampling/monitoring from different zones within a single borehole. Advances in elect developed small diameter probes and pumps for measuring water levels and taking wat continuous monitoring stations in remote areas can be colldeacttaeldo gaguetrosm aatnidc adlolwyn luosaidnegd from a central facility using telemetry systems powered by direct, battery or solar radio frequency, landline or cellular telephones, and satellite. Two case studies will illustrate the use of datalolgagregres sacnadl et eblaesmient rwyi dien mao nitoring sc and the use of multilevel samplers for managing a contaminant plume.

May 1, 2004

By K. Murase

Potentiostatic electrodeposition behavior of dendritic copper from acidic copper(I) chloride (cuprous chloride) baths containing sodium chloride and sodium bromide was investigated. The morphology, or appearance, of copper dendrite and the sodium content in the dendrite as an impurity were both influenced by deposition potential (0 to ?150 mV vs. SHE) and bath temperature (R.T. to 60 C), while the current efficiency for the deposition was 99% or more irrespective of the deposition conditions examined. The bath pH did not affect the deposition behavior in the pH range of 0 to 2. Bath temperature was found to be the most important factor influencing the deposition current. The current density of the dendrite deposition on a titanium cathode was lower than that onto a copper cathode with the same substrate surface area. The reproducibility of the current for the dendrite deposition was poorer when an as-polished titanium cathode was used, although it was improved by surface treatment of the cathode with an HF-HNO3-H3PO4 solution before electrodeposition. The deposition behaviors were discussed with the potential-pH diagram of the Cu-Cl-H2O system.

Jan 1, 2007

"One of the workhorses of the minerals industry is the autogenous grinding (AG) mill and its derivative the semi-autogenous (SAG) mill. These are relatively well understood, but not so Scrubbers. Scrubbers are mechanically of the same appearance/function, so what is the difference between an AG mill and a scrubber? When, or under what conditions should a scrubber be used and when should an AG mill be used? Can the processes within be mathematically modelled?In the past decades, the minerals industry has focused most of its attention on the modelling of unit processes such as cone crushers, HPGR’s, AG/SAG mills and ball mills within conventional processing circuits. Less attention has been placed on the modelling of scrubbers. This paper reviews the difference between scrubber and AG mill modelling, highlighting some of the similarities, with a view to confident comminution circuit designs.Engineering practitioners should be comfortable with these circuit designs and not shy away from considering AG mills for both small and large scale plants. AG mills can treat both harder or softer ore and scrubbers are for only softer ores. This paper differentiates scrubber and AG mill modelling in a similar way that overflow ball mills and grate discharge ball mills are analysed. Smaller scrubbers (600 kW) are suited to small scale soft ore (100-300 t/h) operations. Larger scrubbers up to 2,500 kW have the capability of very high throughput, in excess of 1,750 t/h with soft fine feed ore. AG mills are scalable up to 28 MW and are capable of treating harder ores at rates exceeding 2,000 to 4,500 t/h. Observations are that the specific energy requirements for the mill grinding duty is wide and varied. This is to a large degree the crux of the matter in sizing, as well as, differentiating, scrubbers from AG mills.INTRODUCTIONAG milling is a mature technology that has been used in minerals processing applications for more than 100 years. In the last 50 years, harder metalliferous ores have seen the introduction of steel balls to assist in the grinding/milling action. Tumbling mills used in such a configuration are called semiautogenous mills (SAG). The greater minerals industry is no newcomer to the use of fully autogenous (AG) mills. Perhaps scrubbers are. What is the difference? When should a scrubber be used versus an AG mill? How are they mathematically modelled?"

Jan 1, 2016

By STEPHEN V. FORGERON

The Loch Lamond celestite properties in central Cape Breton Island were mined by Kaiser Celestite Mining Limited from 1970 until 1976. Poor market conditions in J976forced operations to cease. Kaiser holdings included the Lake Enon, MacRae and A mac prospects. A total of about 272,000 tonnes of raw celestite have been mined. Celestite deposits are situated in the Loch Lamond Basin, specifically in Lower Windsor sedimentary rocks. Of the five formations in the Lower Windsor Group, celestite is found in the upper four. Celestite in the Enon Formation occasionally replaces shale that separates stromatolitic dolomite columns; elsewhere in the formation it occurs in association with siltstone and gypsum. Jn the B2 Limestone Formation celestite fills pores or grades between limestone and gypsum. It replaces both limestone and silty limestone conglomerate in the Loch Lamond Formation; this limestone is of unusually high grade (60 to 70% SrSO,J for the area. Evidence indicates that the Uist Formation may hold important celestite reserves. Original celestite mineralization probably resulted from evaporation of seawater on mudflats or 'sabkhas'. Secondary mineralization also may have occurred. Strontium ions could have been leached from pre-existing concentrations and overlying gypsum, moved downdip in groundwater and combined with sulphate rich waters to deposit as celestite in porous B2 limestones.

Jan 1, 1984

By J. M. Harrison

"The Nor-Acme gold mine is near the shore of Snow lake, northern Manitoba, about 75 miles east of Flin Flon. The claims that form the nucleus of the present property were staked in 1927 by C. R. Parres, but it was not until 1941 that diamond drilling disclosed the potentialities of the deposit. In that year a large-scale drilling programme was begun under the direction of F. Ebbutt, of the Howe Sound Exploration and Development Company. Two orebodies were outlined containing about 5,000,000 tons of ore assaying $5.25 in gold per ton. In August, 1945, construction of the mining plant was begun.All information and interpretations contained in the following brief description of the deposit were obtained from surface mapping.GEOLOGYThe ore lies at the contact between a coarse, basic, pyroclastic rock, which is the hanging-wall, and grey, acidic lavas and sediments, which form the footwall. These rocks are cut by irregular basic intrusions that vary in composition from diorite to hornblendite, and by small acidic dykes . Tourmaline is locally common in the hanging-wall rock near the ore.The ore occurs in brecciated, silicified, and ·slightly carbonatized rock. Arsenopyrite is the main sulphide and the gold is associated with it. Pyrrhotite is locally abundant and minor pyrite, chalcopyrite, sphalerite, galena, and cubanite have been noted. Two orebodies are known, the Dick and the Toots. The Toots, which is much the smaller of the two, is about 1,000 feet west of the Dick."

Jan 1, 1954

By Gang Mei, Nengxiong Xu, Yanlin Zhang

After open-pit mining finishes, an iron mine with steeply inclined ore-bodies will generally transform to underground mining. Non-pillar sublevel caving method, with horizontal slice mining from up to down, is commonly used for mining deep ore-bodies under the open-pit bottom. As horizontal slice mining proceeds, a gradually enlarging goaf will be formed under the open-pit bottom, the rocks surrounding the handing and heading sides of the goaf will collapse continuously, and then these results in rock-mass failure with large deformation and displacement in the open-pit slope. Based on FLAC3D, a modeling approach to predict pit slope deformation and failure induced by transitioning open-pit to underground mining is proposed in this paper. This method mainly consists of three procedures of modeling, i.e., mining modeling, landslide modeling, and filling modeling, of which landslide modeling is the core of the proposed approach. In the procedures of modeling with FLAC3D, iteration non-convergence is taken as a local failure criterion of pit slope. When iteration calculation cannot converge, the sliding modeling will start by deleting some elements with large displacements, and finish until convergence. Before modeling landslide, several displacement contours of rock-masses in the pit slope are searched out, and each contour is an approximate possible sliding surface of the open-pit slope. From these contours, the most proper one is selected as the slope sliding surface by using the iteration calculation convergence and minimum element deletion as the judgment condition. Landslide modeling is then realized by removing the elements outside the slope sliding surface. Finally, to demonstrate the effectiveness, the proposed approach is used to simulate the process of open-pit to underground mining at Yanqianshan Iron Mine, and to predict the deformation and failure characteristics of open-pit slope during underground mining. The case study results show that: the prediction of the slope stability determined by using our method is consistent with that calculated by using the limit equilibrium methods.

Jan 1, 2015

By Ch. Enkhbold

Underground mining of minerals is becoming an increasingly complicated technological and ecological problem. It can be explained both by worsening of geological conditions of mining and by a specific character of mining industry, which, in contrast to processing branches of industry, intrudes into one of principal components of the nature ? the Earth's interior. At a traditional organization of mining industry, the entire volume of the produced rock mass is brought to the Earth's surface, where valuable components are extracted. This entails not only power over expenditure for long-distance transfer (especially in the vertical direction) of the waste rock forming a part of the original mineral, but also the formation of huge volumes of worked-out spaces. The latter leads (nature cannot stand emptiness!) to an irreversible development of geomechanical processes of shifting of overlying rock masses resulting in an irreparable damage of all surface structures located on the territory undermined by deep mining. Owing to their high productivity combined with low power consumption and instrumental compactness, novel bifunctional technological processes of minerals dressing successfully solve the problem of rock mass processing in underground conditions with subsequent operative disposal of final tailings of such underground dressing in the worked-out space. Besides, an integration of two processes into one is achieved, for example, a decrease in the rock mass coarseness with a simultaneous precise separation of valuable and waste components.

Aug 1, 2013

By Ralph J. Holmes

"An accurate knowledge of the chemical, mineralogical and physical characteristics of ores and mineral products that are mined, processed and sold commercially is crucial to resource definition, effective resource utilisation, plant design, process control, metallurgical accounting and finally quality control to ensure that contract specifications are met and equitable payment is received for product sales. However, the responsibility for sampling is often entrusted to personnel who do not fully appreciate the significance and importance of collecting fully representative samples for analysis, and they seem satisfied as long as some material is collected and returned to the laboratory for analysis. Furthermore, sample stations incorporated into the design of new plants are often the first casualties when cost cutting exercises commence. There is really little point in accurately analysing samples if they are not representative in the first place, because the resultant analyses can be seriously biased and the effort taken to carefully analyse such samples is largely a waste of time and resources.Ultimately, a poor knowledge of the characteristics of ores and mineral products limits the ability of mining companies to optimise the life of ore resources and plant performance, and failure to meet final product specifications can have disastrous consequences, including price penalties and more seriously loss of sales contracts and significant revenue losses due to poor sampling practices at the point of sale. Consequently, it is critical that sampling is given the attention it deserves as the first important step in the quality measurement chain. The golden rule for correct sampling is that all parts of the ore, concentrate, slurry or other material being sampled must have an equal opportunity of being collected and becoming part of the final sample for analysis."

Jan 1, 2016

By E. Viljamaa

In this research, earlier developed information integration method and novel web technologies are applied to intensify infrastructure construction process control. The applied method uses semantic methods to integrate scattered information that is later on exploited by process management using state-of-the-art web technologies. The applied method and web technologies not only improve the process management situation awareness by integrated up-todate multi-source process data but also provide platform independent access and visualization tool for process data. Utilization of such technologies potentially lead on cost savings, make processes safer and also more environmentally friendly. The integration method also enables intelligent queries to the integrated data making possible to use machine based inferring to the data.

Aug 1, 2013

By Juan C. Sotomayor Álvarez

The Huantajalla mine is seated on Uchucchacua 's Mixing District that is the fourth producer of Silver in the world. Huantajalla Mine is a new mine that nowadays is being explored and recently it has began to operate. The project for 4-A vein exploitation in Huantajalla Mine using Longhole drillings as a new method of mixing is developed by Planning Department of Uchucchacua Mine in coordination with Geology Department of this mine, started in June 2004. This project is funded by Company of Mines Buenaventura S.A.A In July 2002, Geology Department started the exploration on the area of Huantajalla Mine, discovering the 4-A vein. The reconnaissance and definition of the vein finished June 2003, finding 79,080 Ton of mineral of Silver with a grade of 40.0 Oz Ag/ton and a thickness of 1.85 meters (6 feet ). Using the longhole method on the vein exploitation will replace the cut and fill and shrinkage methods, and it will keep a dilution of 15%.

Oct 1, 2004

By Antoine Fournier, Karen St. Seymour

"Responding to market developments, interest in locating deposits of wollastonite has grown significantly. The many occurrences in the Grenville marbles of Quebec can be grouped into disseminated type and discordant vein-type deposits. Disseminated-type wollastonite occurrences have the disadvantages of lower grade, the need for more elaborate mineral separation, and failure to meet ""long grain"" technical specifications. Vein-type deposits have better grades and technical characteristics; exploration should be focussed on these and in the contact-metamorphic aureoles of fluid-rich intrusions. SOMMAIREEn réactions aux nouveaux de bouches, l'interet pour les gîtes de wollastonite a crû de façon marquée. Les nombreux indices sis dans la province de Grenville au Québec peuvent être regroupes en deux catégories soit: les indices dissémines et les indices en veines discordantes. Les indices dissémines ont le désavantage d'être moins enrichis, de requérir une séparation minéralogique plus complexe, et leur wollastonite ne possède pas le degré d'acicularité voulu. Les indices en veines sont plus enrichis en plus de rencontrer les critêres techniques; les efforts d'exploration devraient se porter vers ce type de gites et aussi, sur les auréoles métamorphiques de contact d’intrusions riches en fluides."

Jan 1, 1992

By Yutaro Fukase

Various types of service robots have recently been developed for guarding facilities, caring for the elderly, carrying objects, and cleaning buildings. As barrier-free facilities improve and their use expands, these robots have more space within which to move inside buildings. Yet robots that move autonomously rely on position-detection systems. Though improving rapidly, these systems are far from perfect in determining positions in certain situations, especially when robots navigate large areas or cross various locations. Our group is working to solve this problem by developing a position-detection system using random-dot patterns on a floor. First, we construct a floor with a random-dot pattern and register the positions of all of the dots into a database. As the robot moves across the floor, a camera on the robot captures an image of the floor beneath it and crops the dot pattern in the image. The cropped dot pattern is matched to the dot patterns in the database to determine the position of the robot and the direction in which the robot is facing or moving. In this paper we propose a self-localization system and matching algorithms derived from a space technology and present the results of several experiments.

Aug 1, 2013