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By T. C. Alex, K. M. Godiwalla, R. K. Jana

Manganese nodule, available in ocean beds, is a potential resource of the future for copper, nickel and cobalt. Recovering only these metals, containing less than 3% by weight, will result in the generation of large amount of residue. In addition to the material losses, several environmental and ecological problems arise out of this. The present study has been aimed at reducing the environmental and ecological problems associated with massive generation of this residue together with utilization of the resources. Presence of ~ 20% manganese and ~16% silicon in the residue has prompted us to check its suitability as a raw material for silicomanganese production. Lower manganese content and lower Mn/Fe ratio of the residue than that required for silicomanganese production has been corrected in this study by suitable blending. The efficacy of blending and its thermodynamic aspects using FACTSAGE software are discussed. The studies conducted indicate viability of bulk utilisation of the residue through silicomanganese production and thereby reducing the burden on environment to a great extent.

Jan 1, 2007

By L. A. Cornish, L. H. Chown, S. N. Prins, R. Süss, L. Glaner, A. Douglas

Platinum-based alloys are being developed for high temperature and special applications for good corrosion and oxidation resistance. The microstructures are similar to those of nickel-based super alloys, and comprise ~Pt3Al particles in a Pt-based matrix. After assessing binary alloys, the best candidate system was found to be Pt-Al. Testing and selection of alloys based on Pt-Al were undertaken, where the ternary additions comprised Ru, Cr, Ta, Ir and Ti. As well as phase characterization work, mechanical and oxidation tests were undertaken. The best alloys were found to be Pt-Al-Cr and Pt-Al-Ru. However, the volume fraction of the ~Pt3Al was only around40 per cent instead of the ~70 per cent found in Ni-based super alloys. To increase this, trials were conducted on a range of Pt-Al-Cr-Ru alloys, the optimum composition being Pt80:Al14:Cr3:Ru3.Currently, further additions are being made to the quaternary alloys to change selected properties. As well as developing the alloys themselves, another part of the project is to compile a thermodynamic database using Thermo-Calc?. Phase diagram work has been undertaken so that the results can be input to Thermo-Calc? so that the descriptions of the phases can be optimized. The final database will allow the phases and compositions of selected alloys to be derived, thus predicting the alloys? components without necessarily undertaking further experimental work. This will aid the development of the alloys and will be a useful tool to the final developers of the alloys. Good agreement with experimental data has been observed, which is very encouraging for usefulness of the database. Keywords: platinum-based alloys, intermetallic compounds, high temperature

Jan 1, 2004

By D. M. MacHunter, M. K. Palmer

Refinement of design parameters and features has resulted in the development and commercialization of spiral separator models that offer enhanced performance for a number of application areas. Examples of recently developed spiral separator models include the enhanced performance (EP)spiral and the HC (high capacity) series. Comparative performance data for appropriate applications are presented for each of these new model spiral separators. The utilization of spiral separators providing improved performance offers significant cost and operational benefits for process plants. Examples of process flowsheet changes that have resulted from the incorporation of recently developed spiral separators include the reduction of the number of process stages and the achievement of high density tailings by the utilization of a dewatering arrangement in the spiral tailings splitter system.

Jan 1, 2003

By W. Zhu

ABSTRACT: This paper presents further developments of the principle of Construction Process Mechanics of rockmasses, The principle of loading variations analyses in space-time is systematically described. To demonstrate the applicability of the theory and method, the effect of the construction process of two practical engineering cases are analysed. ZUSAMMENFASSUNG: Das Mechaniksprinzip vom Konstruktionsprozess des Massenfels wird in diesem Aufsatz weiter Entwickelt.. Das Prinzip von Variationsladungsanalyse mit dem Zeit-Raumseffekt wird systematisch erklaert. Um die Anwendungsmoeglichkeit der Theorie und der Methode zu anschaulich darstellen, das Mechanikseffekt des Konstruktionsprozess wird fuer zwei praktische Anwendungsbeispielen zergliedert. : RESUME: Dans ce papier le development se fait pour principles de la mechanique de process de construction . Le principle de variable analyse considerant effet de temps et de Space est present ´e . Pour demonstrer l´appilicabilite de le theorie et la methode , l´èffect de processe de construction pour ce deax examples sont analysés .

Jan 1, 2003

The paper deals with the importance of design, and of codes of practice, in ensuring safe working conditions in mines. The design principles involved in the design process are dealt with, and the importance of a logical design process is emphasized. The links between the requirements for developing a code of practice, embodied in the existing guidelines for the preparation of such a code, and the design principles and process are considered in some detail. Finally, suggestions are included which may provide improvements to the code and hence, ultimately, lead to further improvement in safe working conditions.

Jan 1, 2003

By M. L. Baharani

Looking for an idyllic paradise that has investment and business potential as spectacular as the stunning views of mountains, the rich Ganesh Himal zinc-lead deposit exposed between 4,050 m and 5,000 m is the answer. Arising from the sea floor in a span of 55 million years, the enchanting Himalayas had remained one of the most potent factors influencing the Asian region. The challenges of the mighty Himalayas notwithstanding, it continues to provide opportunities for the humankind in optimum usage of the natural resources and sustainable development. Optimal management of natural resources in mountain areas through decision support tools offered by remote sensing will go a long way in realization of the Ganesh Himal Zinc-Lead Project. The authors have a real life endeavor spanning over 37 years in developing a mining industry in a mountainous region of Nepal and an attempt to integrate with the development of other natural attributes of the region. With rapid acceleration of science and technology, humankind has acquired power to transform his environment countless ways and on an unprecedented scale. While mineral resources are the pillars on which we have built industry and infrastructure, industrial countries in the North have been in the forefront of technological advancements, the developed countries of the South have been at the receiving end of exploitation of mineral resources worldwide. A relationship with natural environment, re-crafted by the civilizing impulse, to meet human demands are upcoming challenges for management of natural resource in sustainable manner for a livable world.

Jan 1, 2008

By M. Hakala

A computer program was developed to simulate transient strains and stresses during an overcoring in the situ stress measurement. The solution is based on superpositioning of elastic stresses. The measured strains can be compared with the calculated ones to check if the measured transient behaviour is accordant with the interpreted in situ state of stress. If not, the in situ state of stress can be calculated based on any transient or final strain values. The transient stresses can be compared with the strength envelope of intact rock and thereby estimate the core damage potential. Technically, the developed code fulfilled all the objectives, and the numerical error was found to be less than 5%. The basic idea can be applied also for different overcoring probes with minor modifications and recalculation of stress tensors. The analysed case studies showed clearly the advance of having an objective and practical quality control method to study the reliability of the in situ stress measurement data. The study was set up and funded by the nuclear waste management companies Posiva Oy ( Finland ) and Svensk Kärnbränslehantering AB ( Sweden ). Un programme informatique a été développé pour simuler des tensions et des contraintes passagères pendant la mesure in situ de contrainte de surcarottage. La solution se fonde sur une superposition de contraintes élastiques. Les contraintes mesurées peuvent être comparées avec celles calculées pour vérifier si le comportement passager mesuré correspond à l'état de contrainte in situ interprété. Sinon, l'état de contrainte in situ peut être calculé à partir de n'importe quelle valeur de contrainte passagère ou finale. Les contraintes passagères peuvent être comparées avec l'enveloppe de force de roche intacte et ainsi il est possible d'évaluer le potentiel de dégâts au noyau. Techniquement le code développé a rempli tous les objectifs, et le taux d'erreur s'est révélé être inférieur à 5 %. L'idée de base peut être appliquée aussi pour différentes expériences de surcarottage avec des modifications mineures et le recalcul de tenseurs de contrainte. Les études de cas analysées ont montré clairement l'avantage d'avoir une méthode de contrôle de qualité objective et pratique pour étudier la fiabilité de données de mesure de contrainte in situ. L'étude a été fondée et financée par les sociétés de gestion de déchets nucléaires Posiva Oy (Finlande) et Svensk Kärnbränslehantering AB (Suède). Es wurde ein Computerprogramm entwickelt, um Transient-Beanspruchungen und Spannungen während eines Überentkernens in situ-Spannung-Messung zu simulieren. Die Lösung beruht auf Superpositionierung von elastischen Spannungen. Die gemessenen Beanspruchungen können mit den berechneten Daten verglichen werden, um nachzuprüfen, ob das abgemessene Transient-Verhalten mit dem interpretierten in situ-Zustand der Spannung übereinstimmt. Wenn nicht, kann der situ-Zustand der Spannung auf irgendwelchen Transient- oder endgültigen Beanspruchungswerten berechnet werden. Die Transiet-Spannungen können mit dem Stärke-Umschlag des intakten Felsens verglichen werden und dadurch ein Kernbeschädigungspotential kalkulieren. Technisch erkannte der entwickelte Code alle Ziele und hat gefunden, dass die numerische Fehler weniger als 5 % waren. Grundsätzlich können auch verschiedene Überentkernen-Untersuchungen mit kleineren Modifizierungen und Wiederberechnung des Spannung-Tensors angewandt werden. Die analysierten Fallstudien zeigten deutlich den Fortschritt, objektive und praktische Qualitätskontrollmethode zu haben, die Zuverlässigkeit in Situ-Spannung-Messung-Daten zu studieren. Die Studie wurde aufgestellt und durch Atommüll-Management-Firmen Posiva Oy (Finnland) und Svensk Kärnbränslehantering AB (Schweden) finanziert.

Jan 1, 2003

By I. Hague

Support liners for underground applications include steel and timber sets, meshing and lacing, screen/mesh, shotcrete and thin support liners (superskins). Over the past few years, major advances have been made in the design and application of liners; especially shotcrete and thin support liners. For shotcrete in mines these advances include the common use of slick-lines to solve logistics problems, the design of alkali free accelerators, the use of synthetic fibres and the new generation application equipment. The field of thin support liners is a new one but advances have been dramatic. This paper discusses the progress made and the need for standardization in definitions and testing for thin support liners. It concludes that the newer technologies have a huge potential positive impact on the industries, from both safety and cost points of view. Le chemisage de soutènement pour extraction souterraine comprend des cadres d’acier ou de boisage, mailles et chapeau, cribles/mailles, béton projeté et des chemisages minces de soutènement (super-peaux). Dans les dernières années, des progrès considérables ont été fait dans la conception et application des chemisages, en particulier les chemisages de soutènement en béton projeté et les chemisages minces. Pour le béton projeté dans les mines, ces progrès comprennent l’utilisation courante de lignes de minerais broyés fin pour résoudre des problèmes de logistique, la création d’accélérateurs sans alcali, l’usage de fibres synthétiques et d’une nouvelle génération d’outillage. Le domaine des chemisages minces de soutènement est très récent mais les progrès ont été rapides. Cette étude présente les progrès accomplis et discute du besoin de standardisation dans les définitions et les tests pour chemisages minces de soutènement. La conclusion est que les technologies nouvelles présentent un énorme impact potentiel positif sur les industries, du point de vue à la fois de la sécurité et de la rentabilité. Unterstützungsverkleidungen für Untertaganwendungen inkludieren Flecht und Seilwerk, Gitter/Geflecht, Spritzbeton und dünne Unterstützungsverkleidungen (superskins). Während der letzten Jahre wurden grosse Fortschritte im Design und in der Anwendung der Verkleidungen gemacht; besonders bei Spritzbeton und dünnen Unterstützungsverkleidungen. In Bezug auf Spritzbeton in den Gruben schließen diese Fortschritte den allgemeinen Gebrauch von Rutschbahnen ein um Logistikprobleme zu lösen, das Design von alkalifreien Akzeleratoren, den Gebrauch von synthetischen Fasern und die neue Generation von Anwendungsausrüstung. Der Bereich der dünnen Unterstützungsverkleidungen ist neu, aber die Fortschritte sind drastisch gewesen. Diese Arbeit behandelt den erzielten Fortschritt, die Notwendigkeit der Normierung in den Definitionen und in der Prüfung dünner Unterstützungsverkleidungen. Sie kommt zum Schluß, daß die neueren Technologien, sowohl vom Gesichtspunkt der Sicherheit als auch der Kosten, eine sehr große potentielle positive Auswirkung auf die Industrien haben.

Jan 1, 2003

By X. W. Pan

It has been found that the MnO content of a slag decreases sharply when direct current is applied to a 1T1£tal-Slagsystem consisting of liquid Mn-Si-Ccsat metals and MnO-SiO2-CaO-AI203 slag in graphite crucibles. This paper reports a preliminary investigation into the electrochemical effects of direct current on the metal-slag system, the silicon content of the metals, and the MnO content of the slag. The results show that, when a direct current of 7 A is maintained, the MnO content of a metal containing 10 to 11 per cent silicon by weight is reduced rapidly from 26,5 to 17,2 per cent by weight. This reduction seems to proceed further when the process is continued. When the direct current and the voltage are kept constant at TA and 4 V respectively, the MnO content of a metal containing 1 to 2 per cent silicon by weight is reduced to 1 from 25 per cent by weight, which results in a manganese yield of 96 per cent.

Jan 1, 1995

By L. K. Smith

The position of Australia as a continuing long-term supplier of mineral sands, and their upgraded products, has been reinforced with the discovery of the extensive mineral reserves in the Murray Basin, an area covering parts of South Australia, New South Wales and Victoria. A major impurity in the Murray Basin is chromium, mainly present in ilmenite concentrates as individual chrome spinel grains. Magnetizing roast treatments are being evaluated as a means of removing the chrome spinel impurity from the ilmenite and as a result of the roast and magnetic separation treatments, the chrome spinels can be expected to be concentrated in the non-magnetic reject fractions. It is from these fractions that attempts were made in this study to recover a chromium-rich product by magnetic fractionation and by application of flotation. The high gauss non-magnetic rejects from the roasting of a primary and a secondary ilmenite fraction were magnetically fractionated to obtain a product with 40.5 and 28.7 per cent Cr2O3,respectively. From the high gauss non-magnetic reject from the roasting of a primary ilmenite, flotation produced a chromium-rich product assaying 29.5 wt per cent Cr2O3at 69.0 per cent recovery. In another test a magnetic fraction assaying 32.9 wt per cent Cr2O3was floated to yield a chromium-rich product with 39.7 wt per cent Cr2O3at 96.4 per cent recovery. X-ray diffraction patterns of all the products indicated that the spinel concentrated was a ferroan magnesiochromite with rutile, ilmenite and hematite as impurities. Since all products were from a single pass, further processing can be expected to remove the impurity minerals and yield higher grade products. The material produced from the Murray Basin ilmenites in this study had similar compositions to commercial chromite ores, except for titania levels that were much higher. The high titania levels were due to residual rutile in the products, but it is expected that this can be removed with further processing. The mineral sand deposits in the Murray Basin are scattered over a wide area and the amount of chromite that may be produced from each of these deposits is unlikely to be sufficient to support an export market. Consequently, any chromite produced in the Murray Basin will most likely need to be processed locally to value added products for a niche market such as chemicals production. Keywords: Murray Basin, ilmenite, chrome spinel, roasting, magnetic separation, chromite ore

Jan 1, 2003

By Z. Jin, Q. Yun, C. Lu

This paper presents a quantitative assessment model for the assessment of environmental load in gold production, which is based on environmental ecology, Life-Cycle Assessment and technical conditions of gold production in China. This model can make environmental assessment in terms of a set of indexes and quantitative approach by means of artificial neural network, which also improves the theory of Life-Cycle Assessment. Keywords: Artificial neural networks, Environmental load, Assessment, Utility function, Gold production

Jan 1, 2003

By J. Lux, B. Clermont

Magotteaux, with the co-operation of Anglo Platinum, has erected a fully instrumented pilot plant at Frank concentrator, which is being used to study the influence of a variety of grinding parameters. This paper will discuss only the influence of mill speed and pulp density on secondary stage grinding. A Ø0.82 x1 m open circuit mill was used with reclaimed Merensky tailings as feed. The conclusions apply to this pilot plant but further investigation needs to be done to verify whether the same trends will be applicable to a large industrial-scale mill.

Jan 1, 2004

The Annual General Meeting of the Branch was held in the Witbank Golf Club on Thursday, 28th August, 1969 at 5.00 p.m. Mr C. G. Sowry (Chairman) was in the Chair. There were also present: Ten Members: Messrs J. Meintjes (Vice-Chairman), J. E. van Aswegen, A. C. Hofmeyr, I. Botha, B. F. v. d. Merwe, C. H. Coxon, R. Canny, R. C. J. Goode, A. Bain, G. E. Carlyon. Six Associate Members: Messrs B. T. Hosking, R. E. Powell, W. Weber, T. Bulloch, E. J. Jackson, P. J. Muller. Fourteen Visitors. Total Present: 31. The Chairman declared the meeting open and extended a welcome to all visitors including Mr R. C. J. Goode, President of the Institute. MINUTES OF PREVIOUS GENERAL MEETING The Minutes of the General Meeting held on the 26th June, 1969, were read and adopted. CHAIRMAN'S REPORT The Chairman presented a report outlining the activities of the Branch during the past year. Membership of the local Branch had increased from 80 to 99 during the year. DECLARATIONOF OFFICEBEARERS The Chairman announced that owing to his transfer out of the Witbank area, he was unable to accept the nomination as Chairman for a further year of office. The outgoing committee had elected Mr J. Meintjes Chairman and Mr A. Bain Vice-Chairman for the ensuing year. Mr J. Meintjes then took the chair. Mr J. Meintjes thanked Mr C. G. Sowry for his successful steering of the Branch during its period of inauguration. ELECTION OF COMMITTEE MEMBERS The Chairman then read the Scrutineers' Report and declared the following eight members elected as Committee Members for the 1969-1970 year: Messrs I. Botha, A. W. Brereton, G. E. Carlyon, B. T. Hosking, E. J. Jackson, B. D. McNeice, P. J. Muller, B. F. van der Merwe. TALK The Chairman then called upon Mr A. Bain to present his talk and film show on 'Impressions of the mining and metallurgy congress tour to Australasia'. CLOSURE After thanking the speaker for an interesting talk, the Chairman declared the Meeting closed at 8.40 p.m.

By P. Sharma, J. C. W. Fowler

This paper discusses the wind blast / air blast phenomenon, how it is managed in coal mines and how it might best be managed in other underground mines. L'article qui suit a pour objets de décrire le phénomène de tir a l'air comprimé et les méthodes de modération de celui-ci dans les mines de houille, et d'indiquer de quelle manière il pourrait être surmonté dans d'autres mines souterraines. Dieses Seminararbeit diskutiert die Windexplosion / Luftexplosion Phänomen, wie es in Kohlenberg-werken geleitet wird, und wie es am besten in anderen untertage Bergwerken geleitet werden könnte.

Jan 1, 2003

By P. N. Erasmus, M. Heyns, M. J. Pretorius

The characteristic of stope supports plays a vital role in the design of the supports. This paper deals with the characterisation of both cellular lightweight concrete and timber supports since both supports absorb and dissipate the energy in different ways. The behaviour of the support and hence its performance is simulated for different loading conditions by constructing a model consisting of various mechanical components like springs, dampers and blow-off valves. When the force exerted by the stope support increases significantly during deformation of the support, the stresses in the hangingwall could exceed values where failure of the hangingwall may occur. There is a need to understand this phenomena and the work presented in this paper is a first attempt to start with the characterisation of the stope support. Les caractéristiques des supports de taille jouent un rôle vital dans la conception des supports. L’étude présente traite de la caractérisation des supports cellulaires en béton léger et en bois, puisque ces deux types absorbent et dissipent l’énergie de façons différentes. Le comportement du support et par conséquent sa performance est simulée pour des conditions différentes de chargement en construisant un modèle qui consiste en des organes mécaniques variés tels que ressorts, registres et valves d’échappement. Quand la force exercée par le support de taille augmente considérablement pendant la déformation du support, les contraintes dans le toit peuvent dépasser des valeurs qui pourraient entraîner la défaillance du toit. Il est nécessaire de comprendre ce phénomène et l’étude ici présentée constitue un premier essai dans la caractérisation du support de taille. Die Charakteristika der Strossenunterstützung spielt im Design von Unterstützungen eine vitale Rolle. Diese Arbeit befaßt sich mit der Charaketerisierung sowohl der porösen Leichtgewichtbeton- als auch mit der Holzunterstützung, da beide Unterstützungen Energien auf verschiedene Art und Weise absorbieren und auflösen. Das Verhalten der Unterstützung und folglich seine Leistung wird für unterschiedliche Ladezustände simuliert, indem ein Model konstruiert wird, welches verschiedene mechanische Komponenten wie Federn, Dämpfer und Ausblaseventile enthält. Wenn die von Strossenunterstützung während einer Unterstützungsdeformation aufgebotene Kraft signifikant ansteigt, könnten die Spannungen im Bereiche des Stollenfirstes Werte überschreiten wo ein Versagen des Stollenfirstes eintreten kann. Es besteht die Notwendigkeit dieses Phänomen zu verstehen, und die Arbeit, die in diesem Elaborat dargestellt wird, ist ein erster Versuch, mit der Charaketerisierung der Strossenunterstützung zu beginnen.

Jan 1, 2003

Professor N. S. Budavari holds a Dip!. Min. Eng. from the Technical University of Sopr on, Hungary, and a Ph.D. degree from the University of Newcastle-upon-Tyne, U.K. Mr J. J. Geldenhuys, Pr. Eng., is Divisional Manager Mining of Anglovaal Limited, being in charge of Prieska Copper Mines (Pty) Limited, Loraine Gold Mines, Limited, and Village Main Reef Gold Mining Company Limited.

Jan 1, 1983

By A. F. Collings

The processing of heavy mineral concentrates can be enhanced by the use of power ultrasound to clean their surfaces of oxidation products and fine coatings, mainly through the large, but very localized forces, produced by cavitation. Results are presented of the application of power ultrasound to remove coatings from the surfaces of mineral sand concentrates in order to improve the sharpness of their high-tension separation and, in some cases, the quality of the low iron components such as zircon. Improvements of 10–15% in recovery and up to 20% in grade compared to unsonicated material were achieved in a single stage laboratory high-tension separation. Cavitation also ensures that a fresh, clean surface is presented to leachants during the leaching of suspended solids. At the same time, the effect of cavitation and the shearing effect of the sound wave passing over the solids ensure that the saturated boundary layer is kept to a minimum if not completely removed. This application of power ultrasound helps to speed up leaching processes as applied to the removal of excess alumino-silicate contaminants in some ilmenite. Keywords: Ultrasound, power ultrasound, heavy minerals, processing.

Jan 1, 2003

By A. R. Leach

Anomalous mining conditions can be described where the level of hazard is increased relative to normal conditions within a mining area. Normal conditions would be those defined as a Ground Control District in a mine’s code of practice, and for which mine standard support layouts are generally developed. It has been found that up to 80% of fall of ground accidents occur where anomalous mining conditions exists, typically in the vicinity of geological weaknesses. These areas require specific attention to ensure they are readily anticipated and identified and that appropriate strategies are used to reduce the hazards associated with them. As part of SIMRAC project GAP 607 checklists to aid identification and best practice mining methods were identified for a range of geotechnically anomalous conditions.

Jan 1, 2003

By Christian Heili

In 1991 the Government of the Republic of Zambia passed legislation providing for the privatisation of Zambia Consolidated Copper Mines Limited (ZCCM). The newly formed Mining Companies, established after nearly a decade of difficult and protracted negotiations on such matters as, cash at close; retained percentage interest by ZCCM; equity investment; future investment commitment and tax concessions, were faced with great internal challenges and a harsh external environment. There was a convergence of a number of negative forces that had and will continue to have an impact on the mining environment in Zambia. The most crucial of these being, the competitive pressures of the global economy, fluctuating copper price and the prevailing HIV/AIDS pandemic. In the short period after privatisation, the Industry has seen the collapse of Binani Industries (Luanshya Mine), the withdrawal of Anglo America Corporation from Konkola Copper Mines Plc and the disposal of Chambishi Cobalt and Acid Plants by Anglovaal Mining Ltd. The objective of this paper is to provide a theoretical and practically researched foundation, which may be used to assist Zambian Mining Companies in making informed decisions on the issue of Strategic Outsourcing and the degree to which this may support the successful and sustainable growth of the Zambian Copper Mining Industry. If judiciously implemented, Strategic Outsourcing has the potential to generate a practical business valuation and process to assist Mine Management in the achievement of their business goals and consequently the return on investment to their Shareholders.

Jan 1, 2005

By B. S. Spottiswoode

Lack of visibility makes it difficult for continuous miner (CM) operators to judge the desired sump depth. The resulting inaccuracies have proven to lead to significant production losses. This problem of measuring the depth of sump has been addressed in the past and a few measurement techniques have evolved. Despite various attempts, a suitable commercial depth of sump sensor does not yet exist. A system using the Doppler effect has been patented, developed and successfully tested. The method is non-intrusive and involves a beam of microwaves being projected obliquely at the roof. The received signal is analysed with respect to the transmitted signal, yielding the desired measure of displacement. Surface tests have revealed an accuracy of a few centimetres. Underground simulation tests on a load haulage dump (LHD) machine have verified the repeatability under the harsh conditions of interest. The system is presently being installed on a CM where it is to undergo a long-term performance evaluation. This paper presents the theory behind such a system, the hardware developed, the signal processing requirements and an analysis of the test results.

Sep 1, 2001