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By M. A. Upham

"Prairie Evaporites of the Province of Saskatchewan in a deep oil-well hole. Exploitation started in 1950 under a shroud of doubt that this huge reserve could be mined. It was fraught with almost insurmountable physical problems in penetrating the Prairie Evaporites. After 12 years of experimentation and development of new shaft-sinking methods, mining equipment and processes to treat the high-grade potash ore (sylvanite), a new era of high-risk resource development dawned in Saskatchewan.The development of 10 new mines opened up the largest known mineable potash reserves in the world and Canada became the second largest. producer of potash to supply domestic (U.S.A. and Canada) and overseas markets. A monumental program in marketing-devising new transportation systems and strategically locating warehouses-was developed in order to expeditiously service domestic and overseas customers. The year 1969/70 started a period of overcapacity and the problem of prorationing. As the market strengthened in 1974, the Saskatchewan Government applied the reserve tax to the industry. Then, they announced the setting up of a Crown corporation to acquire ownership by purchase of up to fifty per cent of the industry. During this time, potash was discovered in New Brunswick within 50 to 60 miles of a seaport, where two deposits have been explored by the same pioneers who started the potash development in Saskatchewan.With this background, the paper will examine various elements of the economics and marketing of Canadian potash."

Jan 1, 1980

By K. Enns, J. J. Byerley

"While thiocyanate (SCN-) is used in a number of industrial processes (production of polyacrylonitrile filaments, synthesis of agricultural chemicals and certain metallurgical solvent extraction and flotation circuits) it is recognized more as an undesirable by-product associated with ' the metallurgical industry. Thiocyanate is present at low concentrations in some waste streams from the iron and steel industry. Of particular significance is the formation of thiocyanate during cyanidation of gold and silver ores, concentrates, tailing s and residues. The thiocyanate levels present in the resulting effluents may range from a few mg/I to several thousand mg/I.At present, thiocyanate does not appear to be as hazardous in the environment as cyanide (CN-) at the same concentration although its interaction with other species and resulting decomposition of products may be unacceptable. Of course the presence of thiocyanate in the leaching circuit and ultimately in the effluent streams may add considerably to the oxidative requirments of any non-selective treatment process for cyanidation wastes.With respect to the thiocyanate as it relates to the cyanidation process, two aspects are evident. Thiocyanate forms and persists in the cyanidation circuit resulting in a ""fouling"" condition with subsequent loss of leaching activity. In order to reduce or control this problem, it is common practice for some mills to discharge daily as much as 20% of the barren leach liquor. Besides contributing to fouling of the leach liquor the formation of thiocyanate represents an irreversible loss of reagent cyanide. It is noteworthy that in some present or proposed mill practice reagent cyanide loss through thiocyanate formation may reach 50%(1). The purpose of this paper is to discus s the application of controlled electrooxidation of thiocyanate with the view of suggesting a process for regenerating cyanide from waste thiocyanate(2). The paper describes the important theoretical aspects and presents experimental data obtained for thiocyanate electrooxidation using both small and large scale electrochemical reactors. Some economic conclusions are presented."

Jan 1, 1984

By A. C. Moerman, C. W. Pelley, K. R. Notley

"The software package described in this paper facilitates the handling of diamond drilling information in the creation and maintenance of a geological information database. Once entered, the drilling information is stored in a direct access file for rapid retrieval. The drill data are sorted into vertical cross sections and interpretation is performed using on-screen menus to define areas of common rock type and outline the mineralized zones. Intersections of individual zones can then be examined and outlined in the longitudinal dimension at a graphics terminal.With the aid of surface-fitting routines, the digitized information can be used to generate three-dimensional models of each zone. From these models intermediate cross sections and level plans can be obtained. Several interpretations are possible and plotter drawings can be obtained. An output file for use by ore reserve estimation software can also be created.Future work will tie this software to geostatistics and mine planning programs and will be aimed at converting mainframe software to run on microcomputers. IntroductionComputer applications in underground mine planning and geology are not new. Operations such as Sherritt Gordono and Kidd Creek have been using software developed about a decade ago for handling geological information and designing stoping blocks. However, general use of such systems has been limited mainly due to the cost of hardware which was affordable only to large corporations. Software to perform the work was usually developed on site and was largely unavailable for use by others, being site-specific, or too expensive for other organizations to purchase.The increasing power of microcomputers and mini-computers, and their relatively low cost compared to the mainframe computers which were previously used, has led to the increased use of computers at mining operations of all sizes. Sources of software for use in geological interpretation and mine planning have increased in number with the proliferation of the use of microcomputers."

Jan 1, 1988

By A. T. GRIFFIS, R. J. GRIFFIS

A large magnesite-talc body is locared in Delora Township, 11 km sourh-southeasr of Timmins, Onrario. The deposit occurs in part of an Archean greensrone belt dominated by volcanic and sedimenrary rocks and large bodies of ultramafic intrusions. The magnesite-talc zane is abour 1800 m long, has a maximum width of 300 m and has been drilled ro 120 m below surface. Chemical analyses of rhe main carbonate zane average 20 ro 28% soluble MgO (magnesia), 5 ro 6% rota/ iron oxide and less rhan 0.1 % CaO (lime). Mineralogically, the zane consists of approximately 54% magnesite, 28% rate, /5% quartz and 3% hematire. Perrographic srudies suggest that rhe various assemblages of magnesite, rate, quartz and serpentine were derived from a parenr serpenrinire (after dunire). An early carbonitization stage, which produced a high-magnesite, low-talc assemblage, preceded a farer decarbonitizarion stage, which formed rhe main magnesite-talc assemblage. Despite a favourably low calcium oxide content of rhe magnesite-talc rock, considerable iron in the magnesire /at rice has limited the quality of the beneficiared product: rhe besr flotation concentrate to dare yields 92 to 94% dead-burned MgO. Experimen- I L t r i i c:~:.•-4- -------- ? -_;> ,•----1---- ta/ work continues on finding a process whereby high-purity magnesia can be produced on a commercial scale.

Jan 1, 1984

By Y. O. Fortier

"ForewordTHE Arctic Archipelago and northern Greenland contain an orogenic region that is as much as 300 miles wide and over 1,400 miles long. It occupies much of what was formerly classified with the Arctic Plains and grouped with other plains and lowlands of Canada as one main geological division. It is proposed that this folded region be designated the Innuitian Region and be recognized as one of the main geological divisions of Canada.Canada's main geological divisions (see Geological Survey of Canada, 1947) have been considered as consisting of a central shield, largely surrounded by plains that separate it from eastern and western mountains. The plains include the Interior Plains, the St. Lawrence Lowlands, the Arctic Plains or Low-lands, and the Hudson Bay Lowland, which is in the central part of the Shield. Plains and mountains are, strictly speaking, physiographic terms, but because mountains are generally folded regions and plains are generally made of undisturbed strata, such terms are useful vehicles to express the fundamental make-up of the land. Nevertheless, it is preferable to use the terms Appalachian and Cordilleran 'Regions' rather than 'Mountains', as those geological divisions are not exclusively made of mountains.Because of the lack of more definite information, the 'Arctic Plains' have included, in the past, regions with plateaux two to four thousand feet above the nearby sea, mountain ranges reaching approximately 10,000 feet above sea level, and regions of folded strata."

Jan 1, 1955

By E. Henderson

"This paper outlines the upgrading of a double-drum 2000 hp cage hoist to provide fully-automatic operation from shaft station control panels. The application utilizes programmable controller technology to provide all necessary functions for movement of personnel and material to 22 locations in a 4000 ft shaft.Various functions involving special design considerations such as ""chairing"", ""jogging"", and three modes of ""multi-level calling service"", are outlined. The use of higher level PLC functions to optimize memory utilization and simulate ""elevator service"" required the addition of a comprehensive fault finding software section to aid in troubleshooting.This paper will deal primarily with the automation portion of the project with references made to other pertinent aspects which were prerequisite to automatic operation. It is not intended to deal with every design detail, but rather to provide an overview of what can be done in the area of automation for those considering such an application. INTRODUCTIONEarly hoisting control systems provided only the essential elements of control, leaving many responsibilities with the operator. With advancements in various areas of technology, electromechanical devices were incorporated to enforce slow-down in end zones, control acceleration rates, monitor safety devices, etc. Brake control systems were supplied to allow for ""single-stick"" operator control, regulated deceleration during emergency brake applications, etc.These additions enhanced the over-all performance but were generally confined to speed and current regulation. Some mechanical devices, such as travelling nut limits, etc.; were used to provide ""position"" control to multiple locations within the shaft. These devices, in conjunction with rather extensive relay control panels, did allow for the establislunent of some automatic cage hoists . The hoists were often limited to service from point ""A"" to point ""B""', involving a limited number of levels due to the complexities of the mechanical interfaces employed. Only limited systematic work sequences were possible . .Programmable Logic Controllers (PLCs) were introduced into industry in the mid-70s and have since gained acceptance in mining applications such as pumping, ventilation, ore handling, etc. This technology, being ""software"" based, allows complexities to reside in the program rather than increasing the number of physical control elements. This has opened the door into hoisting systems for automatic loading and hoisting of ore as well as a means to achieve a comprehensive package of automated cage hoisting functions."

Jan 1, 1989

By Tim J. Carew, Dennis C. Martin

"One approach to stabilization of rock slopes is to place a buttress at the toe of the slope to provide additional resisting forces and increase the length and strength properties along the failure surface. This paper describes the rock mechanics and mine planning aspects of incorporating a buttress of intact rock in the lower part of the slope as part of the slope design for the south wall of the final pit at Cassiar Mine. Stability analysis techniques and results are described. Analyses results have indicated that, in order to maintain steep over-all slopes in the final pit, a buttress of intact rock shoud be incorporated into the lower section of the slope until late in mine life. The effect of the buttress is to flatten the slope and reduce the slope height thereby improving slope stability. The mining plans would be such that the buttress would be mined out during the last four months of mining when the consequences of instability would be least severe.IntroductionThe concept of using a buttress to stabilize slopes has been used in mining and civil engineering construction in may locations (Richards and Stimpson, 1977). Most buttresses involve placement of coarse rock fill timber cribs or other material as a load at the toe of an already unstable slope to provide forces which resist failure by counteracting driving forces and increasing the length and strength of the failure path.This paper describes the geotechnical and mine planning aspects of incorporating a buttress of intact rock in the design of the south wall of Cassiar Mine. The effect of an intact rock buttress is to flatten the slope and reduce the slope height, thereby improving slope stability. No actual construction is required other than normal excavation of the slope. The ""mine plans would be such that the buttress would be mined out at the end of mine life when the impact of instability would be less severe and additional ore might possibly be recovered from the slopes. Mining of the buttress could induce instability at the very end of mine life at a time when maximum ore extraction has been achieved."

Jan 1, 1986

By R. E. Stewart

"Using the concept of economic life and marginal analysis, it can be shown that proper equipment replacement timing can save a mining company many thousands of dollars. To assist management with determining the economic life of mining equipment, a new computer package has been developed. The package, called ERG (equipment replacement guide), incorporates all important economic factors related to equipment usage, such as operating costs, maintenance costs, salvage values, depreciation, volume of work, tax credits, inflation rates, ROJ, etc. The information is used in a series of equations which balance the costs of new equipment against the total cost of old equipment. The solution of the equations determines economic life and the point in time when the old equipment should be replaced. IntroductionIn an operating mine, equipment must eventually be replaced or downgraded for a variety of reasons. Fleets of haul trucks, dozers and other major pieces of equipment deteriorate over time until the mounting costs of maintenance and repair force either a major overhaul or the ir replacement by new and more efficient pieces of equipment.The question of determining the best time to replace old equipment has been approached in many different ways. Various methods, ranging from operating experience, intuition and physical necessity to sophisticated computer models have been devised to help cope with equipment replacement decisions . The best of the se will incorporate the most important economic factors related to equipment usage, such as operating and maintenance costs, salvage values, depreciation, work delivered, the cost of capital, tax credits and, of course, the effects of inflation.Economic TheoryThe fundamentals of equipment replacement theory grew out of the interaction between economics, engineering and finance. The use of annual cost comparisons and rate-of return calculations were helpful in handling situations in which assets with different finite lives were being compared. Later developments bringing together the concept of economic life and marginal analysis helped provide additional refinements to the theory. Taylorui showed that the displacement of an aging asset with a similar, but newer, asset can be justified economically when the marginal cost of keeping the asset one more year exceeds the minimum uniform annual cost equivalent of the proposed replacement."

Jan 1, 1980

By R. L. Guerguerian, Eugene Bercel

"Grinding mill hydrostatic trunnion bearings require an external pumping source to provide and maintain the oil film between the bearing members. In order to guarantee a predetermined minimum film thickness, the lubrication system tends to be oversized. The oil film is ""indirectly"" controlled by flow, pressure and temperature monitors with fixed settings on the conservative side. This can lead to excessive maintenance and abbreviated life for the lubrication system components. A reliable method of monitoring actual film thickness would not only provide greater mill availability, but also minimize maintenance costs.This paper describes the instrumentation installed in Dominion hydrostatic bearings, and presents results of field tests where the output of that instrumentation was recorded under various operating conditions.IntroductionThe trend toward larger and more sophisticated grinding mills has made the operators of these machines increasingly vulnerable to financial loss, as the cost of downtime and repairs has increased directly with machine size. In order to guard against such losses, it is becoming imperative that large, sophisticated grinding mills be equipped with protective instrumentation to monitor some of the critical operating parameters and to identify events and trends which, if they go unnoticed, can lead to excessive maintenance costs and machine downtime. The idea of protective monitoring systems is not new. The operators of certain types of machinery where a high degree of safety is required or where machinery health can deteriorate very rapidly, as in the case of high-speed turbo-machinery, have long been using protective instrumentation on their machines. The increased awareness of the benefits of monitoring machinery conditions and the availability of reliable and relatively low-cost instrumentation of a large range of sophistication is making the practice now widespread. Traditionally, grinding mills have not been considered as high-risk machinery requiring instrumented protection. However, the trend, mentioned earlier, toward employing fewer, but larger capacity, mills increases the risk of significant disruption of production, and therefore measures to minimize the risks are desirable."

Jan 1, 1981

By G. R. Webber, P. J. Whittaker

"A multielement (Au, Cu, Pb, Zn, Ni, c-, Ag, As, Hg, Co, and S) geochemical rock sampling survey was carried out in 1977 in the Munro Township area of Ontario to assess the application of rock geochemistry for gold exploration in the region. Detailed sampling with analysis for gold and arsenic was done in 1986 in the immediate vicinity of the Croesus Mine.Samples of quartz veins and rock formations were taken in regional traverses and in more detail near old showings, prospect pits, and trenches. Quartz, graywacke, carbonate rock, and rhyolite contain the highest concentrations of gold for samples taken away from the old workings. Ultramafic rocks and gabbro have uniformly low gold. Basalt samples have slightly higher geometric means, but individual samples contain high gold concentrations. Multielement highs are mostly in mineralized quartz samples. Gold distribution is independent of other elements in most other rock types. Samples near old showings possess elevated concentrations of gold indicating that prospecting for individual mineral deposits by bedrock sampling is feasible. Concentrations of gold greater than 100 ppb are mostly within 30 m of old workings. Those samples which contain greater than 1000 ppb Au were obtained from quartz veins, basalt, graywacke, and rhyolite.High concentrations of gold were not notably concentrated near the Contact Fault although some anomalous samples came from near and on both sides of the fault. Arsenic concentrations are elevated near the Contact Fault. Detailed sampling near the Croesus Mine suggests that gold was introduced with faulting, alteration and quartz veining. Gold and arsenic have been added to the wallrock in the vicinity of the main veins."

Jan 1, 1989

By D. Madsen, B. Salamondra, A. Moss, D. Etienne

"Raise mining at the Namew Lake Nickel Mine in Manitoba uses 3 m diameter bored raises driven at 45 to 50 degrees dip for stope access and drilling. These raises are developed within the orebody on 20 m centres to accommodate electric-hydraulic longhole jumbos and charging wagons. Critical elements of stope development include delineation of are contacts, control of deviation during raise development, optimal stope sequencing to permit a high extraction rate, drill anchorage installation, production drilling and blasting, and ground control. Procedures to deal with these elements are described, with emphasis on the geotechnical investigation for design of open stopes and pillars.Although mining with drilled raises does not have the flexibility to follow large variations in orebody dip, results to date indicate that it can be used successfully in the thicker ore zones. Thinner zones are currently mined using a modified Avoca method. Some flexibility to accommodate variations in orebody dip in thin are zones may be obtained by using alimack raise climbers to drive access raises, and carry longhole drills and charging equipment. Rock quality has been sufficiently good to maintain stable stope walls for full-height mining of primary stapes at 20 m strike length.IntroductionThe Namew nickel deposit is located 60 km south of Flin Flon, Manitoba. It is a moderately dipping (45 to 50 degrees) pipe-like ultramafic intrusion with a sulphide halo enrichment. The diluted recoverable ore reserves at January I, 1990 are 2.2 million tonnes grading 2.05% Ni and 0.7% Cu. The operation is a joint venture between Hudson Bay Mining and Smelting (60%) and Outokornpu Mines Ltd. of Toronto (40%). The mine is budgeted to produce 530 000 tonnes in 1990. The deposit was discovered in 1984 and mine development commenced in 1987.In the raise mining area, primary stopes will be filled with a high quality backfill consisting of cement and quarried limestone. Secondary stopes will be mined out between the primaries in the second pass of mining. The design extraction rate is 94% over all.The orebody above 120 level has an average mining width of 2.4 m, so is too narrow for raise mining. A modified form of Avoca stoping is used."

Jan 1, 1991

By G Anders

The effectiveness of two types of powder used in long-wall slashing was compared. The evaluation of the results can serve as a good example of how the application of statistical methods to underground test data can help to minimize the number of tests to be carried out. The conclusions are stated concisely, including a definite assessment of the reliability of the tests. Introduction AN assignment at the Algom Nordic mine called for a performance comparison between 70 per cent Cilgel B and 75 per cent Dygel in longwall stope slashing, particularly taking into account, in both cases, the build-up of bootlegs as dependent on hole deviation. Stopes were usually 8 to 10 ft. high and inclined at about 17 degrees. Starting from a raise, they were widened by consecutive longwall slashes to 60 ft., and, al-lowing for drift pillars, were approximately 300 ft. in length along the incline.

Jan 1, 1964

By D. Y. Kim

This paper shows an approach that a gondola-typed robot recognizes walls on building facades. It is applicable for autonomous or teleoperated building façade painting robots. The robot may react based on the wall classification data. This approach is based on 2D LRF(two-dimensional Laser Range Finder). The robot acquires relative distances to walls, and a Kalman filter decides correspondence of walls. An ARS(Attribute Reference System) sensor helps convert LRF coordinate to global coordinate. The experimental results demonstrate the conversion of LRF data.

Aug 1, 2013

By D. F. Sangster

"Eight volcanogenic massive sulphide districts in Canada and Japan, ranging in age from Archean to Miocene, were selected for analysis. The study revealed that: {I) each district has an average diameter of 32 km; (2) the districts contain 4 to 20 deposits each, with an average of /2 deposits; (3) the average total base metal content per district is 4.6 million tonnes, with a coefficient of variation of32%; (4) ranked in order of size, the largest deposit in each district contains, on average, 67% of the total metal and the second largest about 13 %. The remaining deposits range downward in decreasing proportions. Empirical observations such as these may be used f or evaluating the undiscovered potential of new districts as well as contributing to a better understanding of the distribution and genesis of this important class of base metal deposits. Previous WorkThe characteristic geological features o f volcanogenic massive sulphide deposits have been described by numerous authors over the past fifteen years and it is now widely accepted that these deposits comprise a major ""deposit-type."" In addition to these geological parameters, however, it is now becoming apparent that volcanogenic massive sulphide deposits show several distinctive grade-tonnage relationships. For example, Singer et al. (1975) demonstrated a slight negative correlation between copper grade and ore tonnage in their sampling of 146 volcanogenic deposits. In a study of 110 Canadian Precambrian deposits of this type, Boldy (1977) showed that the size of the modal deposit is 0.39 million tons, that of the median deposit is 1.40 million tons and the arithmetic average is 6.85 million tons. Moreover, Boldy's data show that the average grade of combined base metals (Cu + Zn + Pb) for each of the se three deposit-sizes is, respectively, 6.25%, 5.35% and 6.47%. Because the lead content of Canadian Precambrian volcanogeni c deposits is most frequently less than 1%, the total metal grade is effectively Cu + Zn . From Figure 2 in Bold y (1977), it can be seen that 83% of the deposits fall in the range of 0.l to 10 million tons ."

Jan 1, 1980

By J. E. Gill, A. R. Byers

The Surf and Pugsley gold-copper mines; owned and operated by Surf Inlet Consolidated Gold Mines; Limited; are about 6 miles inland from; the head of Surf inlet; on Princess Royal island; Skeena mining division; British Columbia. Surf inlet is a fiord 360 miles in an air line northwest of; Vancouver.

Jan 1, 1954

By Karl J. C. Harries

"The following is an outline or check sheet of some things that might be looked at when considering the concept of a royalty or royalty provisions. It is not intended as a guide to what is right or wrong (that is for the parties to decide). It does not replace the discussions in this work and is not intended to be a complete or exhaustive compilation of matters to be considered. It presumes that you are familiar with the basic concepts of royalties and has been included as an aide memoire only. Use it as such, with caution and common sense, and amend it to suit your needs. Remember also that brevity can result in inaccuracy or imprecision. This is a danger in many points below.The section references are for the sections where the matter is the main subject of the section – see the index for other sections.Royalty TypesNet Proceeds [§§ 5.8.; 11.4.]• No accepted or understood meaning within industry.• Literal meaning, if not defined, would imply “net operating profit”.• Often defined as net profit with revenue base of proceeds from sale of product.• Should not be used without detailed and clear definition. Net Operating Profit [§§ 5.8.; 11.4. – referred to only]• Net profit without recoupment of pre-production expenditures.• Revenue base: usually proceeds from sale of product.• Operating costs deductible.• Some reserves may be permitted.• Recoupment of some post-production capital expenditures may be permitted.• Not often seen as basis for royalties in Canada."

Jan 1, 2003

By M. Bigdeli Karimi

In this study, the effect of strain level and holding time in semisolid temperature range via SIMA process on AS21 Mg alloy was investigated. Some cylindrical samples of this alloy with 1cm in height and 2.5cm in diameter (H/D=0.4) were compressed to 10%, 20%, 30% and 40% at 300-C. Then, the samples were reheated in semisolid temperature range at 614°C for various times. The results of optical microscopy and image analysis showed that with increasing of strain and holding time, dendritic structure changed to equi-axed structure, gradually. Also, the best conditions to obtain good globular structure were achieved. Furthermore, it was seen that after compression and reheating, Mg2Si intermetallics with Chinese script morphology converted to dispersed-fine particles which were distributed into the ci-Mg grains.

Jan 1, 2007

By W. R. Bacon

"MAGNETITE HAS BEEN found in many .parts of the coastal area of British Columbia, but the more important deposits are on Vancouver Island and Texada Island. The locations of these deposits are shown on Figure 1.Interest in the magnetite deposits dates back to the 1870s, when land was acquired on the southwest coast of Texada Island by the Puget Sound Iron Company. This ground included the Prescott, Paxton, and Lake deposits. During the years 1885 to 1903, and 1908, 28,898 tons of magnetite ore was shipped to the company's blast-furnace plant at Irondale, Washington, U.S.A. This production was almost entirely from the Prescott open-pits.In the years following the Texada Island discoveries, other magnetite deposits were found in the coastal area, and various plans were proposed to utilize the local ores in the establishment of a steel industry in the Pacific Northwest. None was carried to fruition but, in 1951, open-pit mining was begun at Iron Hill, Vancouver Island, to furnish iron concentrates for steel mills in Japan. In 1952 mining of the Texada deposits was resumed to supply the same market. Production figures for these recent operations are as follows:"

Jan 1, 1949

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 J. Nsasi Bakambu

This paper describes an autonomous platform for exploration and navigation within networks of tunnels, as those typically found in underground mines and caves. In the exploration mode, a remotely located supervisor instructs the platform to move through successive sections of the network, gathering range data that is, then, concatenated into 2D/3D survey maps of the environment. In the navigation mode, the supervisor specifies high-level missions on the previously acquired survey maps. A motion planner, then, translates each mission into a set of consecutive navigation actions, separated by natural landmarks. Mission execution consists of detecting landmarks, self-localizing and performing the planned navigation actions.

May 1, 2003