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By K. Lundholm, A. E. Mäkinen

"Ore grades are declining and getting more complex around the world which not only complicate the ore processing but also produce new type of requirements to manage the produce waste streams. One specifically problematic and increasingly identified element in waste streams produced in mining and metallurgy is arsenic.Arsenic is a compound that has no significant market value, but that needs to be removed from ores, concentrates and other process streams because of environmental or process technical reasons. One example of a removal process is partial roasting of high-As sulfide concentrates, originally developed by Outotec. In this process the arsenic is volatilized in the gas phase and thus separated from the solid material, i.e. the calcine. If the arsenic is recovered by wet methods the process gas is quenched and all arsenic needs to be stabilized in the effluent treatment plant.Outotec has developed ferric arsenate precipitation as a method to produce stabile arsenic residues from wet gas cleaning effluents. Iron based precipitates, when correctly produced, can meet typical landfill criteria measured with different types of leaching methods meant for characterizing the arsenic dissolution behavior from the precipitates.In this paper partial roasting of sulfide concentrates with arsenic volatilization in combination with ferric arsenate precipitation is discussed from the perspective of producing wastes that can meet the stability requirements set by common leaching tests methods, TCLP and CEN. These leaching test methods set the normative landfill requirements for most operations generating arsenic containing wastes. A typical flow sheet of Outotec® Ferric arsenate process is discussed with results showing the importance of correct process control and sequence on producing arsenic containing waste that can meet the landfill disposal requirements."

Jan 1, 2014

By Catherine T. Ziten

Introduction ?Environmental assessments required for permitting ?Focus on ammonia produced through mine construction & blasting ?Water quality guidelines: federal, provincial, IGO ?Reported values are typically estimates from other projects ?Predictive modelling of ammonia aimed to assist planning

May 1, 2009

By E. Amini

"While methods exist to allow the simulation and optimization of existing flotation operations, there is a deficit in the ability to predict the performance of a new ore type pre-processing. A laboratory scale batch flotation testing methodology has been developed to assess the flotation potential of ores (known as the JK Floatability Index or JKFI). Previous work conducted by Alexander and Collins (2008) showed that the test could be used to predict full scale results in base metal ores. In this work, JKFI tests were applied to three different types of ore and one blend from a greenfields gold deposit to show the test applicability to flotation of precious metals. The results from the JKFI test on one ore type were then used to predict the response of all ore types (including the blend). To validate the predicted kinetic parameters, a comprehensive survey was performed on a pilot plant where each of ore types was processed in the circuit. An acceptable agreement was found between the experimental recoveries and predicted recoveries which indicate the potential of this method for use in predicting the flotation response of an ore.INTRODUCTIONOver 100 years, flotation has been considered an efficient method to concentrate different types of sulphide and oxide minerals and coal. Thus, numerous research studies have been undertaken to find an appropriate model to predict the behaviour of particles in flotation circuits (Barnwal et. al., 2006; Bascur and Herbst, 1983; Cecile and Villeneuve, 1991; Deng et. al., 1996; Zheng et. al., 2006). Most methods are based on the ore flotation response in an industrial plant which is expensive and time consuming to characterise. It is difficult to reliably predict flotation response for new types of ores in industrial scale plants.The floatability component modelling (FCM) approach, developed within the Australian Minerals Industry Research Association (AMIRA) P9 project, has been used to derive models of operating flotation plants for the purpose of simulation and optimisation (Alexander and Morrison, 1998; Alexander et. al., 2000; Varadi, 2006). This approach has been applied at a large number of operating sites treating a wide variety of ores. The approach requires metallurgical surveys to be undertaken in conjunction with batch flotation tests and cell characterisation. This allows ore and machine parameters to be derived, which are then used in the P9 Flotation Model. The development of a FCM generally requires a large commitment of resources and time. While there has been significant support of this approach in industry, the FCM approach is limited to ores already being processed (Runge, 2004; Wightman, 2006)."

Jan 1, 2009

By J. C. Kingston

Introduction The sliding-form method of erecting concrete structures was first devised and used in the early part of this century by the Sante Fe Railroad Company for the erection of a grain elevator at Santa Fe, New Mexico. A somewhat related principle has been employed for a number of years in shaft lining work and, to our knowledge, was perfected in Butte, Montana, but until the building of the concrete headframe at the Jeffrey mine of the Canadian Johns-Manville Company, Ltd., at Asbestos, Que., the method, as applied to surface structures, was quite foreign to the mining industry in Canada. The current shortage and cost of structural steel shapes has no doubt contributed more than any other single factor to the investigations that have led to the use of reinforced concrete as a headframe building material. Mining men in western Quebec and northern Ontario have shown a great deal of interest in the design and construction of the headframe at the East Sullivan mine in Bourlamaque township, Que., and we have had many queries regarding the methods used and, in particular, for an explanation of the sliding-form principle. This article is written in an attempt to set forth the conditions which were to be met; to explain the construction methods used, and to discuss the economy of concrete headframes as compared with the conventional steel structures with which the mining fraternity is familiar.

Jan 1, 1949

By Ian Orford, Peter Radziszewski, Lud Strah

"An autogenous grinding circuit was commissioned at the Brunswick concentrator in October 1998. The AG mill was subsequently converted to SAG operation in May 1999 for a number of reasons. The mill had 48 rows of the NORCAST top-hat integral lifter/liners configured in Hi-Lo mode. A charge motion simulation study, the results of which are the subject of this presentation, was initiated to develop a better understanding of SAG mill behaviour. Using a design of experiments approach, a lifter face angle was determined that would increase mill power draw. Once determined, lifter profiles were modified and installed in July 2001, and a second set installed in February 2002. Resulting changes in mill power consumption are presented.INTRODUCTIONThe Noranda Inc. Brunswick Mine, located near Bathurst, New Brunswick, is a large lead/zinc mine and began milling ore in 1964. The ore is massive sulphide with approximately 20% valuable minerals, 60% pyrite and 20% silicates. In October 1998, an autogenous grinding circuit was commissioned at the Brunswick concentrator (Cooper, Orford, Larsen, 2001).At the time, the autogenous grinding circuit replaced existing surface crushing plants, fine ore storage, rod mills and primary ball mills. The 8.54 m diameter x 4.27 m long (EGL) ANI mill was subsequently converted to SAG operation in May 1999.The mill had 48 rows of the NORCAST top-hat integral lifter/liners and was operated initially with all shell lifters at the same height. Following problems with packing and abnormal wear pattern, the profile was changed to a high-low configuration.Further, it was found that over the life of the lifters, mill power draw and throughput varied considerably. Although a change in mill power draw was expected following lifter replacement (predicted during mill design to be in the order of 300-400 kW), the replacement of the worn lifters with new high lifters resulted in mill power draw decreased by some 1000 kW."

Jan 1, 2003

By Terry Keough

Contents for discussion ?Current liner technology ?Innovation of magnetic products ?Development of magnetic wear liners ?Installation and change out method ?Uses and capabilities ?Internal wear liners ?Summary Vulcanized rubber ?Many of you are familiar with using vulcanized rubber to provide wear protection on mining equipment. For years, this was the standard for most mining equipment, and mines spent a lot of money fabricating and lining steel equipment.

May 1, 2010

?? Intro ?? Mass blast principle ?? LaRonde evolution toward mass blast ?? Overview ?? Mining method ?? Longitudinal ?? LaRonde evolution (2002 to today) ?? Drill and blast design ?? Consumptions and statistics ?? Mucking strategies ?? Case study ?? Examples ?? Conclusion ?? As underground mines extends to greater depths, few questions must be asked: ?? How to: keep operations safe eep operation effective reduce the cost maintain and control the dilution ?? Geomechanic method and practices; significant advances have been observed in the field of: ?? ground support ?? mining sequencing ?? Drilling and blasting; research and development has been less extensive, probably due to the following characteristics: ?? Drill and blast are mainly production-oriented ?? Drilling and blasting are more oriented toward productivity ?? Technology relies heavily on suppliers ?? Highly stressed ground conditions ?? generally help the explosives to break the rock for fragmentation ?? intensify over-breaks or blast-induced

Feb 1, 2008

By J. Allaire, P. N. Muteb

The Meadowbank mine is operated by Agnico-Eagle Mines Ltd. and is located in the Kivalliq District of Nunavut in northern Canada. The process plant operates presently at a throughput of 11,500 tpd with gold grade varying between 2.9 and 3.6 g/t. The ore supplied to the process plant come from two different open pits and it expected to come from a new open pit early 2014. The ore is mid-hard materials so the feed size ore have a bigger impact on the throughput. The average gold recovery is 94.0% with about 15-30% of gold recover from the gravity circuit. The Meadowbank mine commissioning started in February 2010 utilizing a flowsheet consisting of one stage of crushing followed by primary and secondary grinding. The commercial production began in March 2010. During the commissioning several difficulties were observed to reach the designed throughput of 8,500 tpd. It was evaluated to insert a second stage of crushing. The insertion of the secondary crushing have two objectives, first to reach easily the process plant design throughput as well as to evaluated the mill capacity increasing. The process plant team evaluated various expansion alternatives eventually deciding to install a secondary crusher, increased the SAG and Ball mills motors capacities and maintain the rest of the process unchanged. Early 2011, with the improvement in the gold markets, decision was made to install the secondary crusher between the primary crusher and the primary grinding. The process plant continued to operate on the initial design until early June 2011. This paper presents the SAG mill throughput increasing from the designed tonnage of 8,500 tpd to 2012 targeted tonnage of 11,500 tpd, secondary crusher commissioning and the difficulties to operate in Canada Artic (Nunavut).

Jan 1, 2013

By Olaf Andersen

Crucible melt extraction yields short metal fibers with eqivalent diameters as low as 50 µm from almost arbitrary metals and alloys. Highly porous components can be made from such fibers by suitable deposition and sintering methods. This technology is being developed at the Dresden based Department of Powder Metallurgy and Composite Materials of the Fraunhofer Institute for Manufacturing and Advanced Materials (IFAM) and has been applied to gold alloys and iron-base alloys containing small additions of precious metals. From the manufactured gold fibers, sintered structures were made for decorative applications. Additionally, it was found that due to rapid solidification during the fiber formation, precious metals can be finely dispersed in ironchromium- aluminum (FeCrAl) and FeAl20 alloys. Good catalytic activity at elevated temperatures was found in compositions containing 3 wt.-% Ce and 0.5 wt.-% Pt.

Oct 1, 2003

By R. R. Klimpel

"SYNOPSISA discussion of the importance of flotation rate in the analysis of mineral flotation is presented. In particular, the highly interactive nature of the flotation ""system"" is emphasized where there are components of chemistry, equipment, and operating conditions simultaneously involved. It is further shown that: 1) flotation rate must be measured in order to economically optimize the performance of an industrial flotation circuit, 2) that consistent patterns exist in both flotation rate and equilibrium recovery when changing various settings of the system components, 3) that knowledge of these patterns is necessary in order to avoid making system changes that are either self-compensating or dramatically re-enforcing in some particular aspect of performance, and 4) the rate related role of the chemistry component (e.g.frothers and collectors) is often much bigger than is sometimes realized (especially in a negative sense involving overdosing of reagents). INTRODUCTIONFroth flotation is widely usedl-6 in mineral beneficiation processes as a method for separating different types of finely divided solids present in a liquid (usually aqueous) suspension. The approach is based on the contacting of solids with upward moving air bubbles in an agitated vessel where the solids are exposed to chemicals (collectors) which create a condition favoring the attachment of a certain portion of the solids to the air bubbles. This selected portion is then removed in a froth stabilized by chemicals (frothers) and subsequently recovered from the flotation vessel. Depending on the settings of the various components of the flotation ""system"" (see Figure 1) it is possible to achieve a wide range of flotation performance."

Jan 1, 1984

By René Lefebvre

Numerical simulations of the physicochemical processes related to acid rock drainage (ARD) in the Sugar Shack South rock pile of the Questa Mine were performed with the TOUGH AMD simulator. The objectives were to 1) identify the main processes responsible for observed present-day conditions, 2) provide an estimate of gas phase humidity transfer, and 3) give a preliminary indication of the potential impact of closure involving the installation of an alluvial soil cover. Modeling results indicated that the mine rock geometry (thin layers placed along steep mountain slopes) favors the onset of strong thermal air convection. Simulations also indicate that resloping the piles would not significantly reduce convection and oxidation. For simulation purposes, a potential cover with the permeability range of a local alluvium was investigated and found to be of questionable effectiveness since its permeability can exceed the value of 3x10-13 m2 required to prevent thermal air convection and reduce ARD.

Nov 1, 2002

By J. Don Scott

Analytical predictions of the rate and magnitude of settlement of deposited oil sands tailings slurries generally overestimate how fast pore pressures will dissipate. Field deposits of nonsegregating tailings to mature fine tailings show continued high pore pressures near the surface which impede surface reclamation. In geotechnical analyses which predict the consolidation behavior of soft soils a finite strain theory is used. Effective stress-void ratio and void ratio-hydraulic conductivity relationships determined from laboratory large strain consolidation tests, are used in the finite strain predictions. This theory, however, cannot predict the full range of sedimentation, consolidation and pore pressure dissipation which occurs in large scale deposits of thixotropic tailings slurries. A new large strain consolidation model which assumes that the creep rate of the slurry exceeds the pore pressure dissipation rate is being investigated. This model is relevant for rapidly deposited, low permeability thixotropic slurries where the upwards drainage path increases by several meters a year, such as, in oil sand fine tailings ponds and nonsegregating tailings deposits. The model will be verified by analyzing the 10m high column of fine tailings at the University of Alberta which has been monitored for over 20 years and in which the excess pore pressures are still very high.

May 1, 2004

By Huilan Yang, Feng He

This paper intends to introduce the development of copper smelting and converting technologies in China in recent years, with a particular emphasis on the introduction of various continuous converting technologies, and moreover, it analyzes the advantages and disadvantages of those technologies, including their impact on the downstream anode refining from different points of view. INTRODUCTION At present, many converting technologies are used in copper pyro-metallurgical plants in China, including Peirce-Smith (PS) converter, flash converting furnace, multi-lance based top blowing, bottom blowing and so on. These technologies have spanned a wide range of time. PS converter technology has been applied in copper smelters for many years and most of the blister copper have been produced by this technology; flash converting technology has been developed since 1990s and been maturely applied in several plants up until now; top blowing and bottom blowing technologies have been revived in China in the past decade and boast good environmental protection performance, energy efficiency, throughput capacity and short process flow. All of the said technologies have reference operations in treating high-grade matte. As more and more attention is paid to environmental protection globally and copper smelters continuously seek for cost reduction, it is necessary to share those converting technologies, especially those new converting technologies derived in China, with copper smelting practitioners in the world. This paper aims to analyze the advantages and disadvantages of various technologies from a macroscopic view and discuss their actual application effects, current developments and future improvements. BRIEF INTRODUCTION OF VARIOUS CONVERTING TECHNOLOGIES IN CHINA China has seen a rapid development in copper smelting industry in the past 30 years and has become the largest gathering place of copper smelters in the world, most of which are operating with PS converting furnace technology, however, with the increasingly strict environmental requirements of the Chinese government in recent years, the low-level pollution issue and the disadvantage of large gas exhaust amount per unit of copper of converting furnaces are particularly prominent.

Jan 1, 2019

By Stephen P. Quin

One of the most prospective undeveloped greenstone belts in Canada, the Hope Bay greenstone belt extends over 80km in a north-south direction and is between 7 and 20km wide. The belt lies on the arctic coast and comprises mafic meta-volcanic and meta-sedimentary rocks that are bounded by Archean granite intrusives and gneisses. The greenstone package has been deformed during multiple events and is transected by major northsouth trending shear zones that appear to exert a significant control on the localization of mineralization. The Hope Bay belt contains a number of significant gold deposits hosted in a typical Archean greenstone belt and which occur in several geologic settings, including shear-hosted, lode-style and breccia-associated. Combined, the deposits host a measured and indicated resource of 1.6 million oz of gold averaging 15.7 g/t plus an inferred resource of 2.7 million oz of gold averaging 12.3 g/t. All deposits remain open to expansion. Exploration in the period 2000-2002 by Miramar includes more than 110,000m of drilling to more fully define the nature of the known deposits, while regional exploration has focused on identifying and evaluating new targets. In carrying out its programs, Miramar uses a number of techniques to improve its chances of exploration success. Activity in 2003 includes 43,000m of drilling focused on expanding resources in the Madrid area, testing the Boston deposit at depth and continuing the hunt for more discoveries. Meanwhile Miramar is advancing one of the deposits towards a production decision, based on a low capital, high return development scenario.

May 1, 2003

By E. M. Shemang, C. E. Suh, L. Mbinkar, University of Yaounde

"Two iron deposits within the Precambrian mineral belt of Cameroon are described in detail for the first time: the Archean Metzimevin replacement iron deposit enclosed in Fe-enriched itabirite, and the Proterozoic granite-hosted, shear zone-related Mayo Binka magnetite deposit. In the Metzimevin de¬posit, quartz is corroded and microplaty hematite overprints martite-textured hematite. The Mayo Binka massive magnetite veins show evidence of deformation in magnetite (fracturing and microbrecciation) and in overgrowths of specular hematite (mechanical twinning and undulating extinction). The magnetite is partially replaced by hematite (martitization) and goethite. Ores from both deposits have >88% total Fe2O3 and low contents of contaminants such as SiO2, Al2O3, MgO, CaO, P2O5, and TiO2. They are also poor in Cu, Pb, Zn, V, Cr, and Ni. The Metzimevin massive hematite is characterized by an accentuated light rare earth element depletion relative to the Fe-enriched itabirite. It is suggested that the Metzimevin iron deposit is the result of hypogene leaching of gangue minerals from, and further hematitization of, an itabirite protore. Although the genesis of the Mayo Binka massive magnetite is unclear, it is spatially related to Neoproterozoic granitic rocks. The data allow some comparison of these little known, but pot¬entially economic iron deposits, with some of the world’s better investigated deposits, and are useful to the exploration efforts for iron ore currently underway in Cameroon and the Central African subregion.Deux gisements de fer de la ceinture minérale Précambrienne du Cameroun sont ici décrits en détail pour la première fois : le gisement de fer Archéen de Metzimevin formé par remplacement et encaissé par des itabirites enrichies en Fe, et le gisement de magnétite Protérozoïque de Mayo Binka as¬socié au cisaillement dans un granite. Au gisement de Metzimevin, le quartz est corrodé et de l’hématite en microplaquettes se développe au dépends de l’hématite a texture martitique. Les veines de magné¬tite massive de Mayo Binka présentent des évidences de déformation dans la magnétite (fracturation et microbréchification) et dans les surcroissances d’hématite spéculaire (Macles tectoniques et extinction ondulante). La magnétite est partiellement remplacée par l’hématite (martitisation) et par la goethite. Le minerai des deux gisements contient >88% de Fe2O3 total et un faible contenu en contaminants tels que SiO2, Al2O3, MgO, CaO, P2O5, et TiO2. Il est également pauvre en Cu, en Pb, en Zn, en V, en Cr et en Ni. L’hématite massive de Metzimevin est caractérisée par un appauvrissement relatif en terres rares légères relativement à l’itabirite enrichie en Fe. Il est suggéré que le gisement de fer de Metzimevin résulte du les¬sivage hypogène des minéraux de la gangue ainsi que de l’hématitisation poussée d’une préconcentration de fer dans l’itabirite. Bien que la genèse de la magnétite massive de Mayo Binka demeure obscure, elle est spatialement associée aux roches granitiques Néoprotérozoiques. Ces données permettent de comparer ces gisements de fer peu connus et potentiellement économiques avec certains des gisements mondiale¬ment mieux connus, aidant ainsi les efforts d’exploration présentement en cours en Afrique de l’ouest et au Cameroun."

Jan 1, 2008

By M. C. Villeneuve

A numerical modelling approach was developed to explicitly simulate geomechanical characteristics of intact rock: mineralogy, grain size and fabric. The approach involved creating a representative constitutive model for each of three common rock-forming minerals: mica, quartz and feldspar. The constitutive models developed are valid within the low confinement realm of excavation boundaries, where tensile fracture processes dominate. The mineral types were assigned to numerical elements, which were associated with each other through an algorithm created in a finite difference model, FLAC 2D (Itasca 2007a), to simulate real crystal geometries and orientations. The numerical models were used in a parametric investigation of the geomechanical characteristics and compared with published observations of the rock yielding process in laboratory testing. This approach has allowed the explicit grain-scale investigation of the impact of geomechanical characteristics on rock yielding at low confinement, leading to an improved mechanistic understanding of excavation-scale rock yielding processes at excavation boundaries.

May 1, 2009

By T. P. R. de Jong, H. Harbeck

"This contribution reports recent mineral sorting experience and lists the opportunities of the newest generation of automatic sorters with a special focus on electromagnetic detection and Xray transmission. With the available sensor resolutions and actuator systems that are available today sorting of minerals down to 2 mm size and up to 250 mm lump size is technically feasible. In industry, ore as well as coal is still hand-picked and current automation potential only utilised in a handful of specific applications. Recently a number of technological developments took place that may increase sorting potential, save mill costs and lead to lower overall tonnage costs.They are:??High speed and high resolution sorting systems based on X-ray transmission imaging??High speed on-line image processing and further development of advanced data processing??Modular multi-sensor automatic sorting units (using one or more sensors such as colour, electromagnetic and X-ray in a single device)??Sensitive electromagnetic sensors for sorting based on differences in magnetic susceptibility and electric conductivityThe above enables compact dry separation, insensitive for moisture fluctuations and at high separation sharpness, as well as “electronic” high gradient magnetic separation for larger particles. Besides conventional X-ray transmission (XRT), dual-energy XRT (DE-XRT) is now being redesigned to meet the requirements of the mining industry. The mentioned technologies provide automatic dry separation of minerals and rock as alternative for conventional processing."

Jan 1, 2005

By David Lin

"Modal data from Red Dog Main Pit ores were collected and analysed on a size-by-size basis. The Main Pit data were compared to data from composite samples of Red Dog Aqqaluk ores. The data revealed that a large fraction of the sphalerite in the Aqqaluk baritic ore was tied up in sphalerite/galena binaries. This provided an explanation for its poor leadlzinc selectivity compared to Main Pit ores. The Aqqaluk vein ore exhibited levels of sphalerite/galena binaries comparable to that of Main Pit ores resulting in comparable lead/zinc selectivity.An attempt was made to correlate the modal and metallurgical data for Main Pit stockpiles. It was found that there was moderate correlation between the percentage of sphalerite locked in binaries with galena in the <C5>C6 size fi-action and sphalerite deportment to the leadconcentrate.INTRODUCTIONTeck Cominco’s Red Dog Mine in northern Alaska is one of the richest zinc districts in the world. Red Dog Mine has been in operation for over ten years and produces nearly 1 million tonnes of zinc concentrate per mum. Red Dog Mine is an open pit operation and current mining is conducted in the area known as the Main Pit. The Main Pit contains proven reserves of about 41 900 000 tonnes of ore grading 19.2% Zn and 5.2% Pb (Cominco 2000). To the north of the Main Pit is the Aqqaluk deposit. It contains probable reserves of 56 100 000 tonnes of ore grading 16.6% Zn and 4.1 % Pb. After the Main Pit has been exhausted, the Aqqaluk deposit will be exploited.The Aqqaluk deposit consists of three main geologic ore types: baritic, siliceous and vein. The siliceous ore type is dominant, representing 64% of the mineralisation. Composite samples of these ore types were created from drill core and batch flotation tests were performed on them. The flotation tests indicated that there were significant metallurgical differences between Main Pit ore and the Aqqaluk siliceous and baritic ore. The siliceous and baritic ores were found to suffer from poor lead/zinc selectivity (Lin 1999, G&T 1999). It was suspected that there were problems with the original Aqqaluk composite samples, thus a new set of composite samples were created and batch flotation tests were conducted again. In this set of tests, the new baritic ore still suffered from leadlzinc selectivity problems, but the new siliceous ore provided excellent metallurgical results. A summary of the flotation results is given in Table 1. Stockpile 132, which is typical of Main Pit ore, is given for comparison purposes. The mineral suite at Red Dog is relatively simple. The ore consists of galena, sphalerite and pyrite in a silicate matrix. The low zinc recoveries of the baritic ore were largely due to sphalerite losses to the lead concentrate."

Jan 1, 2002

By L. Bloomquist

This paper describes how Automated Mining Systems (AMS) is evolving the state-of-the-art in guidance systems for autonomous underground vehicles. The techniques, trade-offs, and lessons learned from these systems are described, including the safety regime that has been implemented. First generation autonomous guidance systems for underground vehicles relied on infrastructure for the vehicle to follow. However, there are additional costs associated with that approach. The current generation uses a pair of laser range finders as its only guidance sensors. This system uses a minimum of infrastructure, in the form of a redundant system of location referencing. Advanced steering and drive control algorithms are incorporated into this generation of system. The next generation of infrastructureless guidance systems will be based on a 3D vision sensor, which was originally developed for autonomous Mars rovers and is being adapted for underground mining use. Results of early underground field trials are presented, along with a description of this emerging technology.

Jan 1, 2004

By L. Bloomquist, C. Arnoldi

"This paper describes how Automated Mining Systems (AMS) is evolving the state-of the- art in guidance systems for autonomous underground vehicles. The techniques, tradeoffs, and lessons learned from these systems are described, including the safety regime that has been implemented.First generation autonomous guidance systems for underground vehicles relied on infrastructure for the vehicle to follow. However, there are additional costs associated with that approach.The current generation uses a pair of laser range finders as its only guidance sensors. This system uses a minimum of infrastructure, in the form of a redundant system of location referencing. Advanced steering and drive control algorithms are incorporated into this generation of system.The next generation of infrastructureless guidance systems will be based on a 3D vision sensor, which was originally developed for autonomous Mars rovers and is being adapted for underground mining use. Results of early underground field trials are presented, along with a description of this emerging technology."

Jan 1, 2004