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By R. G. Gillies, C. A. Shook, W. H. W. Husband

"The current state of knowledge concerning pipeline transport of coal in water slurry form is summarized for the four categories: coal-water fuels, conventional fine coal slurries, coarse coals and stabilized mixtures of coarse and fine particles. Surface chemistry is of dominant importance for coal-water fuels and considerable progress in understanding the role of surfactants has been achieved in recent years. Little generalized research on the flow of conventional fine coal slurries has been done in the past 17years, although innumerable conceptual designs and feasibility studies have been undertaken. Coarse coal slurries are fairly well understood but the model which explains their flow requires more data to be established fully. Stabilized flow mixtures should probably obey the same model as coarse coal slurries but experimental results for stabilized mixtures have not yet been incorporated in a comprehensive theory.IntroductionPipeline transportation of coal in a water vehicle has been employed for many years in coal washeries. It has been used less frequently in hydraulic mining and thermal power station fuel supply systems. The suitability of coal for pipeline transport arises from its moderate specific gravity relative to the carrier fluid and the fact that throughputs are often large and steady over long periods of time."

Jan 1, 1990

By J. M. D. Wilson, W. Petruk, C. Coté

"The behaviour of minerals in the Mount Wright spiral circuit was investigated to find methods of improving iron oxide mineral liberation and recovery. The feeds, concentrates and tailings from rougher, cleaner and recleaner spirals in one mill line were sampled before and after the sizing screen openings were reduced from 2 mm to 1.6 mm. Sized fractions of each sample were analyzed with the MP-SEM-IPS image analysis system at CANMET to determine mineral quantities and liberation characteristics of the iron oxide minerals. Mass balance techniques were used to calculate stream recoveries of iron, silica, total iron oxide minerals, hema¬tite, goethite, quartz, ferromagnesian silicates, and liberated and locked total iron oxide minerals for each sieve fraction.The reduction of the sizing screen openings increased the ap¬parent liberation of the total iron oxide minerals in the screen undersize from 89% to 94% and raised the over-all iron recovery from 84.4% to 85.3%. Apparent liberation of iron oxide minerals in the cleaner sand also increased from 70% to 85%, but the – 75 µm fraction re¬mained the only fraction containing an acceptable amount of liber¬ated iron oxide minerals in each case. Due to limitations of spiral and grinding efficiency it is recommended that the cleaner sand be screened at 300 m, the +300 m fraction be reground, and the – 300 p.m fraction be rerouted to the rougher spirals.The amount of fine liberated iron oxide minerals (– 106 m) lost in the tailings was 46 TPH in mill line 3. This value represents 41 wt % of the free fine iron oxide minerals, or 7 wt % of the total iron oxide minerals in the spiral feed. Further work is needed to investigate the possibility of recovering this material by other methods.Middling iron particles (010 50%) and presumably free gangue in the size range –300+ 75 m tend to be recovered by spirals by entrapment."

Jan 1, 1990

By A. Galibois, R. Singhal

"This paper highlights some of the potential application areas of knowledge-based systems in the mining industry. The basic theoretical principles associated with knowledge-based systems are discussed and the justification for mining applications is given. The paper concludes with a brief description of a prototype knowledge-based system applied to scraper selection that was developed at Université Laval on a LISP machine. IntroductionThe beginning of Artificial Intelligence coincided with the conception and development of the first computer systems some thirty years ago. At that time researchers were euphoric about the possibility of modelling the human reasoning process. Soon, however, they discovered that the combinatorial aspect of the set of possible solutions to a particular problem did not permit an in-depth evaluation.In the mid-60s researchers started to look at the heuristic approach because it was more suited to human behaviour with its congnitive abilities (i.e. representing, reasoning, problem solving and advising). The heuristic approach allows possible results rather than exact solutions and it is more rapid and cost effective than the exhaustive combinatorial analysis. The heuristic approach did allow some noticeable progress in the seventies with the development of the first expert system called MYCIN with the objective of diagnosing blood infection diseases."

Jan 1, 1988

By T. Lamb, T. Aston

"The Gays River Mine is located within a complex hydrological regime and underground mining environment. Early in the mine history, the operation was' affected by an inability to control mine water inflows. More recently, the reopened mine operation had been unable to maintain consistent drainage of groundwater to the mine workings and sustain low groundwater levels.In 1992, a series of investigations were completed, which in part Were funded under the Canada-Nova Scotia Mineral Development Agreement. The studies undertaken included: hydrochemical and drainhole well screen assessments, an air photo study of sinkhole features, numerical modelling studies and a major piezometer installation and overburden soil study. The results indicate that the water draining to the underground workings is comprised of two distinct components: precipitation over the drawdown cone catchment area and seepage from the nearby Gays River. In addition, a third ""balance"" component was' also found, which represents uncertainties in the areal extent of the drawdown cone and river seepage components.After outlining the history of the groundwater problems experienced at the Gays River Mine, this paper examines the various studies undertaken during 1991-1992 and concludes that control of groundwater levels in the mine area is achievable. A number of recommendations are also proposed for future study ."

Jan 1, 1993

By R. L. Bruening, R. M. Izatt, N. E. Izatt, S. R. Izatt

"Molecular Recognition Technology (MRT) is a simplified, green chemistry process with applications in selective separations of Ni(II), Co(II), and platinum group metals in primary ore beneficiation processes and secondary recovery operations from spent products, scrap, and environmental waste solutions. Simplification in MRT processes is achieved by non-use of solvents, reduced space requirements, and a simple separation system involving columns packed with metal-selective SuperLig® resins. Minimal waste is generated and metal recovery is achieved at 99% levels from g L-1 to <mg L-1 concentrations. MRT systems are attractive technologically and economically compared with solvent extraction, ion exchange, and precipitation separation processes. Commercial examples of MRT use include removal of impurity metals Cd, Cu, Ni. Fe, and Pb to mg L-1 or lower concentration levels from Co streams to produce battery-grade Co. Highly purified Co is required for optimal function of lithium ion rechargeable batteries and superalloys associated with aerospace and gas turbine operations. Impurity metals are recovered for reuse or proper disposal rather than being discarded to landfill. Green chemistry processes, such as MRT, are needed in metal separations going forward into the 21st century to achieve global metal sustainability in processing of native ore and treatment of secondary sources.INTRODUCTION Maximizing efficiencies of metal separations and optimizing metal recovery rates during separation processes are important goals on the road to achieving metal sustainability. Achievement of these goals is consistent with stated principles of green engineering (O'Connor, Zimmerman, Anastas, & Plata, 2016) and green chemistry (Anastas & Eghbali, 2010). Molecular Recognition Technology (MRT) separation processes using SuperLig® resins have a 25-year record of performing competitive, commercial metal separations with metal recovery rates approaching 100% (Izatt, Izatt, Izatt, Krakowiak, & Bruening, 2017). SuperLig® resins are characterized by high selectivities for specific metals over concentration ranges from g L-1 to mg L-1 or lower. MRT systems use no solvents and are simple in design and operation resulting in reduced capital and operating expenses."

Jan 1, 2017

By G. W. H. Norman

The surficial Archæan rocks of the southern gold belt of western Quebec are constricted near Kewagama lake by granite masses to the north and south. This divides the belt into natural eastern and western parts. This paper deals with the eastern part, extending from Malanie to Haig township. In this section the Keewatin-Timiskaming rocks have a length of about 70 miles and end abruptly against garnetiferous gneisses of the Grenville terrain. In the western half of the section where exploration has been under way since the early twenties, there are sixteen mines that are or have been in operation, and eleven prospective mines. In the eastern half where exploration has been carried on since the early thirties, six prospective gold mines are under development, one· of which, Louvicourt Goldfields, is at the initial production stage. Of the sixteen properties in the western half that are operating or have operated, all, except the Golden Manitou, which is a base metal mine, and the old Green Stabell from which there was a small production of copper, produce gold. Of the eleven prospective mines in the western half nine have gold. New Bidlamaque has gold and copper and one, East Sullivan, has copper-zinc ore. Since production began in 1927 gold, silver, zinc, copper, and lead having a total value of about $10,000,000 have been produced from the mines of the eastern section of the southern gold belt of western Quebec.

Jan 1, 1954

By P. Carlone, A. Astarita, F. Rubino

Cold gas dynamic spray is an innovative technology allowing the deposition of thin metallic layers on a bulk or sheet substrate. Titanium on aluminum deposition is very attractive to the aeronautic industry, due to the enhanced corrosion resistance and wear properties of titanium coating as well as its improved compatibility with CFRP, preserving the reduced cost of aluminum substrate. One main drawback, however, is related to the micro-porosity of the deposed layer, negatively affecting the corrosion barrier performance. In this paper, the effect of selective laser post-treatment on pure grade 2 titanium coatings on AA2020-T3 sheets was experimentally and numerically investigated. Morphological features, microstructure and chemical composition of the treated zone were assessed by means of optical microscopy, scanning electron microscopy and energy dispersive X-ray spectrometry. Microhardness measurements were also carried out to evaluate the mechanical properties of the treated coating. A numerical model of the laser treatment, based on a finite volume scheme, was implemented and solved to simulate the process and discuss the experimental outcomes. Obtained results highlighted the key role played by heat input and dimensional features on the effectiveness of the treatment.

Jan 1, 2015

By Matthew Violot

Vale Canada?s Birchtree Mine, located in Thompson Manitoba, has been experiencing problems with hanging wall / footwall dilution, as well as sloughing off of adjacent stopes and temporary stope block backs. Birchtree Mine is interested in determining how time affects the stability of their open stope blocks. Many factors simultaneously influence open stope stability (rock mass quality, joint condition, stress condition). This makes it challenging to determine the influence of a single parameter such as exposure time or stand-up time. This study focuses on determining the effect of exposure time on open stope dilution and combines stress analysis and empirical based approaches.

Jun 1, 2012

By Robert B. Parsons

"With several hoots of the whistle, Canada&apos;s fiscal engineers are once again cranking up the income tax locomotive, in an effort to inject new stimulus into a stubborn economy. And once again, additional gears, wheels, levers, and other mysterious part s are being added to the already complex machinery in order to accommodate the new push.This time, a significant new mechanism involves a major overhaul and expansion of the investment tax credit system.Although the shiny new devices have considerable appeal to a certain group of potential passengers, one wonders if all of the renewed chugging and huffing is on the right track.IntroductionAs indicated in Tax Notes in the July 1983 issue of CIM Bulletin , the April 19, 1983 federal bud get introduced a number of new measures which would permit investment tax credits and research and development deductions to "" flow through "" from a corporation to another taxpayer."

Jan 1, 1984

By Jean-Luc Beaudoin

"In addition to the actual energy consumed, billing is dependent on the peak load and the power factor. The lower the power factor goes, the higher will be the penalty the consumer pays. The principles of a power factor regulator, the two ways of improving the power factor and methods for calculating the capacitor values required will be described.The rate structure of the utility company is founded on three cornerstones: the energy consumed during a given period of time and two penalties imposed when the power factor is low or the power demand is high. Even though the normal consumption of a customer might be 10 kW, with a peak demand of 20 kW only once a month, the wiring and associated equipment at the input to the customer&apos;s plant will have to accommodate this peak demand. The power company has no means of forecasting these demands and cannot therefore provide the additional equipment necessary. So it exacts a penalty, and the customer must take all possible steps to avoid these peak power demands. This can be accomplished by using an automatic peak load regulator which will selectively disconnect the loads which are not essential in the operation of a plant .The principles of such a controller will be described.Principles of power factor regulatorsThe operating principles of a power factor regulator will now be described. It might be asked why the power factor of an electrical installation in a mine, or a factory, should be corrected at all, but there is a simple answer. In addition to the actual energy consumed, the billing is dependent on the peak load and the power factor. The lower the power factor goes, the higher will be the penalty the consumer pays."

Jan 1, 1982

By Derek H. C. Wilton

"The Cape Ray Fault Zone of southwestern Newfoundland contains two notable electrum/ base metal sulphide quartz vein lode occurrences hosted by two contrasting lithological units, viz. a graphite schist horizon and a granite. The two occurrences, although in proximity, are not in direct contact, but, based on geochronological, geochemical and isotopic evidence, they were apparently deposited from hydrothermal fluids generated as a vapour phase from the magmatic progenitor of the Windowglass Hill granite.This paper provides further evidence, from REE and background A u and Ag data, for the magmatic origin of the hydrothermal fluids. Wall rocks to the electrum-bearing quartz veins in both the schists and granite have experienced a LREE depletion probably due to leaching by Cl-bearing solutions. Gold and silver contents are typically low in all rock types but there is a slight elevation in gold concentrations in those units in contact with the Window glass Hill granite. The granite also has the relatively highest gold and silver contents of any unit in the region.IntroductionThis paper presents the evidence from rare earth element (REE) and gold/silver concentration data for the magmatic origin of hydrothermal fluids responsible for deposition of the Cape Ray electrum deposits of southwestern Newfoundland. The two deposits occur in the Cape Ray Fault Zone (Fig. I) within the Windsor Point Group and Window glass Hill granite. The larger occurrence is called the Main Shear Showing and consists of a deformed quartz vein horizon, which extends for - 6 km, within the late Devonian Windsor Point Group. This unit is an intermixed ignimbrite and mafic tuff sequence with associated schists (metasediments) and gabbros. The host rocks to the mineralized quartz veins are interleaved graphite, chlorite and sericite schists. Basal ignimbrites within the Windsor Point Group have been dated, by Rb/Sr isotopic methods, at 377 ±21 Ma (Wilton, 1983a). The basal ignimbrites also have enriched REE patterns, an elevated initial Sr ratio (0.709) and a peraluminous-siliceous nature which suggest they resulted from the partial melting of continental crust (Wilton, 1984)."

Jan 1, 1985

By E. M. De Souza, A. M. Coode

"Since potash was discovered substantial rock mechanics research has been done to develop the technology needed to cope with the unique conditions in Saskatchewan mines, to assure general mine safety and to assess the problems associated with mining potash at depth.The practical result of this research was the development of multiple entry systems incorporating yielding pillars for access ways and the chevron type layouts for production panels. These developments proved the viability of extracting potash from between 950 m and 1100 m depth using a high degree of mechanization. High extraction ratios could not, however, be achieved using the developed technology.The presence of a competent salt back is critical to mining the potash, and underground practice is governed by the presence of anomalous geological zones. These factors may be associated with the occurrence of brine inflows. One potash mine in Saskatchewan ceased its underground operations and was closed due to flooding of the entire mine. Two other potash mines in Saskatchewan had significant brine inflows. The costs involved in brine pumping, equipment relocation, bulkhead construction, grouting, and in auxiliary operations can run into the tens of millions of dollars.At Central Canada Potash, the use of stress relief and yielding pillars in the design of the mining layouts has resulted in over-all stable underground excavations and safe mining practices. There are two types of production room s, the chevron and the hybrid, which result in a planned block average extraction ratio of 35010. Mining activity has resulted in brine ingresses in two areas, and additional operating costs have been incurred over the years. These mining areas have demonstrated abnormally high closure rates, and rapid back deterioration. A program was established in those two areas to ensure the practice of safe mining procedures.The short-term perspectives inherent in the program included the elimination of all uncertainties associated with the possibility of an increase in brine inflow leading to flooding, the elimination of the abnormal ground behaviour and ground deterioration in the inflow areas, and the reduction of the long-term adverse effects of mining on regional mine stability. The program was also designed to provide means for developing alternative safe mine layouts which would improve the exploitation of potash resources. Details of the extensive work performed during the program are found elsewhere (E. De Souza, 1988).Grouting and salt backfilling are viable techniques to control brine inflows in underground excavations in potash mines. Detailed instrumentation of the backfilled test areas provides information on the long-term behaviour and effectiveness of the grout/backfill system, allowing for rational decisions on the complete abandonment of these mined out areas, thus resulting in considerable operational cost savings.This paper is presented in two parts: the first addressed the problems of diamond drilling , grouting and backfilling in Panel 209 and the second, addresses the problems of instrumentation and rock mechanics."

Jan 1, 1990

By Shigeru Sarata

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

Aug 1, 2013

By Seunghoon Lee

The increase in the number of higher and larger buildings is expected to require the buildings&apos; outer wall maintenance process, which includes cleaning, painting and monitoring, still depends on manpower. In this study, we proposed the robotic building maintenance system and aimed to reduce the jerk effect through the motion control of the system, improve the performance of the maintenance task, and ensure longer life and safety by improving the stability of the building structure and robot system. Through the results of the motion control and field-test with the proposed system, in specific, horizontal sliding module (HSM) showed that the jerk oriented by impact force was significantly reduced, feasibility of the proposed method was verified, and the robotic challenges were explored.

Aug 1, 2013

By S. Vaidya, R. C. McKellar, N. K. Sinha

Nominally [001]-oriented nickel-base single crystal (SX) superalloy CMSX-10 was investigated at 900°C under constant load, equivalent to an initial stress of 700 MPa, for creep strains from 7% to fracture strain (18.2%). The cross-sectional dimensions of initially uniform cylindrical specimens were measured along their entire length after the tests. The cross-section changed from circular to near elliptical shape. The anisotropic deformation, measured in terms of eccentricity, increased with the increasing strain level, but for a given strain level, it remained constant along the entire length of the initially uniform gauge section. The results are discussed in terms of diameter, eccentricity, area, local stress and microstructural observations. The most striking observation was the fact that all the specimens displayed a yoke-like shape, or the reduction of cross sectional area, at two locations within the originally uniform gauge section. Such observations have not been reported in the literature for single crystal superalloys.

Jan 1, 2006

By H. Clare Horwood

"In the Little Long Lac-Sturgeon River area of Thunder Bay district, Ontario, most of the known ore deposits occur in fractures, shear zones, and zones of brecciation, in folded sedimentary rocks . In two or three instances, however, deposits occur in Keewatin greenstones and in later granitic rocks of probable Algoman age.The principal regional features in the area are the long narrow bands of Keewatin volcanic rocks and Timiskaming sedimentary formations that extend east from lake Nipigon to Long Lac, a distance of about 65 miles. The belts continue to the east for many miles beyond Long Lac and probably for some distance to the west under the waters of lake Nipigon. They are intruded in places, particularly in the north, by large masses of diorite, granodiorite, and granite. Small intrusive masses of diorite and porphyry also occur in many localities throughout the area.The Little Long Lac-Sturgeon River mining area is the youngest camp in Ontario and has been in production only since 1934.The district is readily accessible from the branch line of the Canadian National railway between Longlac station on the main line and Port Arthur, and from the Trans-Canada highway No. 17. Both these means of communication traverse the area in a general east-west direction parallel with the principal structural trend of the rocks of the region.In the Little Long Lac section discoveries were made by W. W. Smith in 1931 (Hard Rock property) , by T. A. Johnson in 1932 ( Bankfield property) , by T. A. Johnson and T. Oklend in 1932 (Little Long Lac property) , by F. MacLeod and A. Cockshutt in 1933 (MacLeod-Cockshutt property) , and by George and Frank Papineau in 1935 (Hutchison Lake property).In the Sturgeon River section discoveries were made by Powers and Silam in 1925 (Northern Empire property), T. A. Johnson in 1931 (Dik-Dik property) , and by Russell and James Cryderman in 1935 and 1936 (Sand River and Leitch properties)."

Jan 1, 1954

By H. Lee

Recently, the effects of global climate changes have become top concerns for governments? decision making regarding infrastructure investments. Extreme weather events that exceed the capacity of existing systems have considerably increased in frequency, and the potential effects of changing trends in temperature and rainfall on infrastructure are difficult to ignore. It is essential for governments to estimate the costs and benefits of adaptation to climate change to properly assess the financial feasibility of infrastructure adaptation strategies. This paper proposes a framework for estimating the economic aspects of infrastructure adaptation to climate change. The framework is composed of three steps of implementation: establishment of alternatives for infrastructure adaptation, performance prediction of infrastructure using future climate scenarios, and asset valuation based on costs and benefits. The first step specifies target assets, their adaptability to climate change, and applicable adaptation technologies. The second step evaluates the effects of climate change on the performance of infrastructure. The last step determines the optimal adaptation strategies among various alternatives based on their net benefits. The framework reasonably incorporates future climate scenarios into the estimation processes for climate change effects and provides a basis for budget allocation for governmental infrastructure investments. The framework is expected to assist government decision makers in establishing adaptation strategies in a rational manner under uncertain future climate change.

Aug 1, 2013

By D. François-Bongareon

"In previous publications by the author, significant advances and generalizations of the theory of sampling of broken ores, prompted and confirmed by experimental results, have been presented. This paper shows how to implement these theoretical results in practice. The models to be used are reviewed, with a description of the various sampling parameters involved. Then the methodology for the experimental assessment of those parameters, including segregation factors, is described in simple and practical terms, along with the use of handy sampling protocol charts. Finally, the particularly important case of processing data from a sample-tree experiment is detailed, and examples of applications covering all situations and types of experiments are provided.IntroductionThe reliability of a sample of crushed material , i.e. the expected (average) deviation between its true grade and the true grade of the lot it comes from, mostly depends upon six factors:• the size (mass) of the sample (and to a minor extent, for small lots, the size of the lot);• the size of the rock particles (degree of comminution)• the nature of the mineralization at microscopic scale (i.e., within even the smallest particles);• the geological nature of the mineralization and mineral of interest;• the grade of the lot in the mineral of interest; and• in some cases, the state of segregation of the lot.In practice, one should first disregard segregation problems, and assess sample variability in the segregation-free case. Once the numerical parameters governing this variability have been assessed, then segregation factors can be assessed in turn. In the case of laboratory standard sample preparation procedures, segregation can usually be disregarded altogether."

Jan 1, 1993

By B. Burke

Magnesium and its alloys are attractive materials for use in automotive and aerospace applications because of the low density and good mechanical properties. However, difficulty in forming magnesium and the limited number of available commercial alloys limit their use. The present paper reviews the efforts to improve the attractiveness of magnesium through non-traditional processing, and presents preliminary results of current work on producing magnesium alloys via powder metallurgy P/M. P/M can be used to alleviate the formability problem through near-net-shape processing, and also allows unique chemical compositions that can lead to new alloys with novel properties. The feasibility of producing magnesium powder metallurgy products utilizing the industrially dominant process of mixed powder blending, uniaxial die compaction and controlled atmosphere sintering was investigated. An alloy composition based on the commercial Mg alloy AZ31 (3% Al, 1% Zn) was used to facilitate comparison to similar wrought products. The optimal processing conditions (compaction pressure, sintering time and temperature, and quenching temperature) were found to maximize sintered density and mechanical properties.

Jan 1, 2007

By M. P. Tibbs

An autonomous spray application system for a structural Thin Spray-on Liner (TSL) is targeting productivity and safety on underground coal continuous miners by potentially replacing steel mesh, and has broader applications as surface support and confinement in metalliferous mines and civil tunnelling. Polymer chemistry, coating formulation, geotechnical assessment and the autonomous application system are being developed as an integrated package as part of a continuous miner automation project. This polymer-based TSL system has significant benefits over conventional steel mesh skin confinement, including being more automatable by spray application, providing complete skin confinement and active skin reinforcement as a fast-curing composite with substrate, and having effective fire retardant properties for the polymer and the underlying coal. This paper presents a preliminary assessment of distance sensing systems that would enable autonomous adaptation of a nominal spray path to spray a consistent thickness of TSL (nominally 5mm) over an irregular topography. Two alternate sensors are assessed; firstly, a 2D LIDAR mounted on a linear axis is used to produce a 3D surface profile for generating an adapted spray path; and secondly, a robot end-effector-mounted ultrasonic sensor is assessed for wall following techniques to dynamically adapt a nominal spray path.

Aug 1, 2013