Search Documents

By T. Hudaverdi

Several studies have been conducted on blastability and prediction of fragmentation. The term blastability is used to refer the susceptibility of the rock to blasting and is closely related to fragmentation. Parameters that determine fragmentation by blasting may be divided into two groups. The first group consists of blasting design parameters. The blast design parameters are controllable parameters and determined by the explosive engineers. The burden, spacing between holes, bench height, drillhole diameter, stemming height and explosive density are all design parameters. The second group consists of rock mass parameters that are referred to as uncontrollable parameters. The uncontrollable parameters are physical and mechanical properties of rock and rock mass structure. The strength, modulus of elasticity, density of rock, number of joint sets, joint orientation and joint spacing are among uncontrollable parameters. The rock mass parameters and blast design parameters should be considered together to explain fragmentation process. In this study, a blast database was accumulated to use for multivariate analysis. The blast database contains the blasts performed near Istanbul region quarries and the blasts that were preformed in various mines in the world by the blasting researchers. The cluster analysis was used to separate the blast data into different similarity groups. Group memberships were analyzed and checked by the discriminant analysis. Then, the multivariate regression analysis was used to develop a prediction equation for blast fragmentation for each group. Finally, a validation of the suggested models was performed for various mines. The model comprises blast design parameters, mechanical properties of rock and rock mass structure.

Jan 1, 2011

By R. L. Virta

Common clay is a natural, fine-grained material composed of hydrous aluminum silicates. Shale is a laminated sedimentary rock that is formed by the consolidation of clay, mud or silt. Production About 150 companies produced common clay and shale in 41 states. In states not reporting production, common clay and shale probably was mined and sold for construction applications by companies not participating in the U.S. Geological Survey (USGS) canvass of producers. Domestic production in 2005 was estimated to be 24.8 Mt (27.3 million st) valued at $176 million. This was based on a preliminary survey of the common clay and shale industry. The leading producer states, in decreasing order by tonnage, were North Carolina, Texas, Alabama, Georgia and Ohio.

Jan 1, 2006

By P. Sangurmath, C. Gundewar, M. Riyazulla, V. Vasudev, N. Shadaksharswami

Dharwar craton in the southern Indian shield, comprises the Neoarchaean foreland in the west and a relatively younger accretionary complex composed of granitoids and intervening gold-bearing volcano-sedimentary belts. The Hutti schist belt hosting a major gold producing mine is situated in the northern part of the eastern Dharwar craton. It is a horse-shoe shaped structure comprising predominantly of pillowed metabasalt of tholeiitic composition with minor amounts of clastic sediments and felsic volcanic rocks. The belt is intruded on all sides by circular to tabular bodies of granites and granodiorite. Important gold deposits are located at Hutti, Hira-Buddini and Uti villages. Felsic volcanics in the Hutti belt occur as tabular bodies of quartz porphyry and breccia. Two of the gold-bearing reefs in the Hutti mine, Viz., Middle and Strike reefs are intimately associated with tabular sub-vertical sheets of mylonitic quartz-feldspar porphyry intruding pillowed metrabasalt. In Uti mine area, the felsic volcanics occurs as a tabular body. At Hira-Buddini, the felsic volcanic occur as a irregularly shaped sheet in pillowed metabasalt. Mineralogical and geochemical studies suggest that the felsic volcanic rock in Hutti mine area is a rhyolite and at Uti and Hira-Buddhini it is of dacite composition. Scheelite occurs as veins, veinlets, stringers and blebs along fracture planes of felsic volcanics in the Hutti mine area, whereas at Uti and Hira-Buddini it is insignificant. On the basis of spatial association of metabasalt and felsic volcanics and on geochemical grounds, we interpret that the felsic volcanics might have originated by the partial melting of basalt. REE patterns of the granite, granodiorite and metabasalt of Hutti are similar to each other indicating that they could be co-magmatic. However, REE in the Hutti felsic rocks is significantly higher than in Uti and particularly Hira-Buddini mine areas. The two felsic volcanic samples drawn away from the mineralized zone from all the three mine areas were analyzed for tungsten. In Hutti one sample assayed 0.15% and another 0.062%. At Uti, in one sample it assayed 0.056% and another less than 1 ppm, whereas at Hira-Buddini, it is less than 1 ppm in both the samples. The spatially associated basalt analyzed 23 to 235 ppm tungsten, whereas granites and granodiorites have very low (<1 ppm) tungsten. Therefore, the source of tungsten in the felsic volcanics of Hutti area could be traced to metabasalt. The absence of significant amount of tungsten in the felsic volcanic of Hira-Buddini could be attributed to the lack of REE enrichment compared to REE in Hutti and Uti felsic volcanics.

Jan 1, 2007

By Clifford B. Farris

Introduction Shale Mining Problems The mining problems an oil shale operator will face are largely determined by the process. Candidate oil recovery processes are surface (above ground processing of mined oil shale), modified in situ (underground with some shale removed), and true in situ (completely underground with no shale removed). The shale removed for modified in situ (MIS) is generally processed by surface techniques. The mining problems are different for each category. Fig. 1 depicts the diversity of western shale deposits. Mining for surface operations will employ underground mining techniques in common use but the scale will be larger. A typical oil shale operation is expected to require 75,000 to 250,000 st (68 000 to 226 800 tons) a stream day of crushed oil shale. This is above the upper limit of current mining operations. Major problems include: (1) lack of good engineering design properties for oil shale, especially when interbedded with saline minerals at depths below 1,000 ft (305 m); (2) presence of water, hydrogen sulfide, and methane in some areas; (3) necessity for mine disposal of as much retorted oil shale waste as possible; and (4) control of environmental impacts of mining. Portions of the oil shale deposits in Colorado, Wyoming, and Utah and significant portions of the Devonian shales in the eastern U.S. are adapted to surface mining. No major technological problems are apparent outside overburden thicknesses up to 1,000 ft in the West. However, numerous political and environmental difficulties have arisen. One major oil shale developer cancelled a planned surface mining operation and currently is pursuing a modified in-situ plan. The eastern shales are closer to the surface than the western, but suffer from many of the same environmental and political problems. Modified in-situ operations face much more severe mining problems than surface efforts. Because the mined stope (called an in-situ "retort" by processors) acts as a retorting process vessel subject to gas flow, combustion, and temperatures between 1,500° and 2,000°F, mining is under highly restrictive limitations. This processing method involves removing between 20 and 40% of the shale deposit and then blasting the roof and walls into the mined space, where the oil is recovered by retorting. Major problems are: (1) swell factor severely limited; (2) need for consistent size distribution of blasted shale; (3) even filling of stope (in-situ retort) by blasted shale with consistent permeability throughout; (4) scaleup of blasting techniques, after optimization; (5) protection of retort pillars and roof during and after retorting; (6) prevention of groundwater percolation; (7)use of ANFO explosive in wet holes; (8) disposing of surface-retorted shale waste in stope; and (9) restoration of site. True in-situ operations are less well developed than surface or MIS processes. No actual mining is done, as the true in-situ processes generate permeability in the highly

Jan 9, 1980

By Clifford B. Farris

Introduction Shale Mining Problems The mining problems an oil shale operator will face are largely determined by the process. Candidate oil recovery processes are surface (above ground processing of mined oil shale), modified in situ (underground with some shale removed), and true in situ (completely underground with no shale removed). The shale removed for modified in situ (MIS) is generally processed by surface techniques. The mining problems are different for each category. Fig. 1 depicts the diversity of western shale deposits. Mining for surface operations will employ underground mining techniques in common use but the scale will be larger. A typical oil shale operation is expected to require 75,000 to 250,000 st (68 000 to 226 800 tons) a stream day of crushed oil shale. This is above the upper limit of current mining operations. Major problems in¬clude: (1) lack of good engineering design properties for oil shale, especially when interbedded with saline minerals at depths below 1,000 ft (305 m); (2) presence of water, hydrogen sulfide, and methane in some areas; (3) necessity for mine disposal of as much retorted oil shale waste as possible; and (4) control of en¬vironmental impacts of mining. Portions of the oil shale deposits in Colorado, Wyoming, and Utah and significant portions of the Devonian shales in the eastern U.S. are adapted to surface mining. No major technological problems are apparent outside overburden thicknesses up to 1,000 ft in the West. However, numerous political and environmental dif¬ficulties have arisen. One major oil shale developer cancelled a planned surface mining operation and currently is pursuing a modified in-situ plan. The eastern shales are closer to the surface than the western, but suffer from many of the same environmental and political problems. Modified in-situ operations face much more severe mining problems than surface efforts. Because the mined stope (called an in-situ "retort" by processors) acts as a retorting process vessel subject to gas flow, combustion, and temperatures between 1,500° and 2,000°F, mining is under highly restrictive limitations. This processing method involves removing between 20 and 40% of the shale deposit and then blasting the roof and walls into the mined space, where the oil is recovered by retorting. Major problems are: (1) swell factor severely limited; (2) need for consistent size distribution of blasted shale; (3) even filling of stope (in-situ retort) by blasted shale with consistent permeability throughout; (4) scaleup of blasting techniques, after optimization; (5) protection of retort pillars and roof during and after retorting; (6) prevention of groundwater percolation; (7)use of ANFO explosive in wet holes; (8) disposing of surface-retorted shale waste in stope; and (9) restoration of site. True in-situ operations are less well developed than surface or MIS processes. No actual mining is done, as the true in-situ processes generate permeability in the highly

Jan 1, 1980

By J. Greg Sanchez

The New South Ferry Terminal in the New York City Transit system represents an important milestone for the city. This is the first station designed and built in the 21st century. The design of the fire safety system included relying on Computational Fluid Dynamics to analyze the dispersion of heat and smoke, and modelling of people egress to determine the egress requirements. The project also looked into how to protect the structure from the heat exposure in order to meet the fire rating requirements. This paper provides an overview of the fire safety design approach taken to design the new South Ferry Terminal station in lower Manhattan and looks into fire modelling, structural fire protection, and station evacuation.

Jan 1, 2008

By W. Burger

Mechanical excavation methods can significantly improve excavation performance and labor safety compared to drill and blast operations. Herrenknecht has developed a mechanized shaft sinking method for soft and medium strength rock. This system combines innovative technologies which allow simultaneous excavation, removal of cut material and the installation of rock support. This Shaft Boring Roadheader ?SBR? is flexible in diameter and can be used in shafts with changing diameters and different shaft support requirements for depth up to 2,000 m. During regular excavation personnel are not required to access or work on the shaft bench. The boom used to cut the shaft profile is based on roadheader technology.

Jan 1, 2012

In this study, numerical simulations of yield pillars employing the finite element method with time-dependent Drucker-Prager material model are conducted. The stress control mechanism of yield pillars on weak floor strata is studied. The development of pillar yield zone, the distribution of pillar stress and the development of failure zone in the weak floor strata are investigated. The study indicates that a properly selected yield pillar size may significantly reduce the peak stress induced in the weak floor strata and effectively control the development of failure zone in the floor.

Jan 1, 1999

By G. Deschênes

In an earlier study (Deschênes et al., 2009), gold and silver were shown to be efficiently extracted from samples taken from the Kupol Mine in Russia using lead nitrate in a cyanide leach system. In the current study, a com-parison of the technical and economic merits of a new technology called CANMET enhanced leaching process (CELP) was made with the cyanidation/acidification-volatilization-recycling (AVR) process using eight metal-lurgical variability samples, as well as a large composite sample, which was to represent the initial two years of Kupol mill feed. The composite sample leach feed assayed 33.4 g/t Au and 289 g/t Ag. The metallurgical results from the large composite sample demonstrated that CELP produced very similar gold and slightly higher silver leach extractions compared to the conventional cyanidation/AVR leach conditions at 1/2 the cyanide concentra-tion (1,000 ppm NaCN in CELP vs. 2,000 ppm for cyanidation/AVR leach conditions). It was estimated that the total cost per ton was approximately the same for the two technologies (total cost of CELP with the use of Merrill-Crowe at $46.48/t, with cyanidation/AVR at $46.13/t). However, the implementation of CELP would eliminate a capital expenditure of approximately $5 million for an AVR system based on a 2005 feasibility level cost estimate. Eight variability samples used to confirm the composite sample results showed that, on average, the gold leach extractions with CELP and the conventional leach conditions were very similar, but the average silver leach extraction was 2.1% higher for CELP. Furthermore, CELP silver leach extraction was 4.6% higher on average compared to conventional cyanidation for the four mid-grade variability samples evaluated. The decision was made to remove AVR cyanide recovery from the flowsheet and implement CELP at Kupol. The ability to use the conventional leach equipment with CELP and simplify the flowsheet was also a factor, given the remote location of the Kupol Mine.

Jan 1, 2010

By Yi Luo, Jeremy Slagley, Arunkumar Rai, Steve Guffey, Syd S. Peng

Research was conducted to study the characteristics of longwall mining machine noises and to develop engineering controls for the reduction of noise exposure at longwall faces. Time-motion noise dosimeter data was analyzed and compared with existing databases. Experiments were conducted above ground on a stage loader/crusher to explore the potential of using active noise control (noise cancellation) in reducing the noise levels. A 5-7 dBA reduction in recorded stage loader noise was achieved. This paper presents the equipment, procedure and results of the noise surveys, as well as the active noise control experiments.

Jan 1, 2005

By P. Anyon

Exposure to the microscopic particles in diesel engine exhaust can lead to serious health problems, including the incidence of cancers, heart disease and increased susceptibility to respiratory ailments such as pneumonia, bronchitis, and asthma. In Australia, mining companies and state government authorities are actively responding to this major occupational health and safety issue. Their initiatives place considerable emphasis on routine monitoring of diesel particle matter (DPM) exhaust emissions, both for engine benchmarking and as a part of routine engine maintenance. Implementation strategies follow two complementary paths: determination of individual engines? emission signatures combined with periodic engine re-certification; and co-operatively agreed industry-government engine maintenance programs, which are subject to audit. Both strategies place heavy reliance on real-time measurement of DPM concentrations in engine exhaust, using ruggedized instrumentation, mainly based on laser light scattering photometry. Adding value to this cooperative approach, industry has also collectively funded a government agency to design and manage a database, into which the results of all-routine DPM testing can be uploaded directly by individual mines. This win-win outcome is a great example of how cooperative action between governments and industry can deliver the goods: in this case, a safer working environment, more efficient energy use and the capacity to benchmark performance with industry peers.

Jan 1, 2009

By H. Maleki, G. Tetreault

This study was initiated by the Bureau of Land Management (BLM) to develop guidelines for determining the maximum economic recovery of resources in coal mines. The work was in response to a requirement in the Mineral Leasing Act of 1920 and Federal regulations. The intent was to address the economic rainability of small, irregular reserves in existing longwall mines. In particular, there was a need to determine if room-and-pillar mining using a continuous miner (CM method) was economically sound, or whether unconventional (short or odd-shaped) longwalls could be used to recover small coal reserves economically. Small reserves, called "widgets" are left in longwall mines on one side of the mains, near outcrops and adverse geological conditions, or near any other location where reserve geometry does not lend itself to mining with a rectangular longwall panel. The work included (1) analysis of the geologic, geo-technical, and economic factors that influence the recovery of small coal reserves, (2) analysis of historic changes in supply, demand, and coal prices, (3) development of typical cost models for room-and-pillar and longwall mines, and (4) development of a practical methodology for determining maximum economic recovery. The methodology included an evaluation of the ratio of coal mined during longwall mining to that mined for development (LDR) as well as costs of maintaining coal quality depending on market conditions. The LDR is a good indicator of mine efficiency and overall coal recovery in modem longwall mines and thus is used to evaluate the

Jan 1, 2001

By M. Mikhaylenko

Rhenium, molybdenum and tungsten are the elements demanded by high-end technologies. These metals are found in process solutions in forms of their oxyanions: ReO4-, MoO42- and WO42-. The later two can exist in forms of iso- and/or heteropolyanions. Basically all three metals demonstrate very similar chemical behavior in aqueous solutions. Unfortunately, in their mineral sources these elements commonly accompany each other, like pairs of rhenium-molybdenum or molybdenum-tungsten. Their economical separation is a challenging task.

Jan 1, 2012

By M. Buxton

Sensor derived data can add value across the mining operating chain ranging from resource definition, extraction, pre ? concentration, mineral process monitoring and assessment of product quality. Most documented studies on the use of sensors in mining focus on specific technologies for specific applications. These studies do not take into account different aims, objectives and operating conditions at different steps in the value chain. The first part of this contribution assesses key physical performance and discriminatory requirements of sensors applied in each portion of the mining value chain. The second part proposes a framework of methods for quantifying the value added by additional sensor information. Integrating the sensor based technology and the economic value quantification allows for both, designing an economically optimal sensor monitoring network along the whole mining value chain and optimizing efficiencies. Illustrative studies demonstrate the significant economic benefits, in particular in reduction of exploration expenditures, increase in extraction efficiencies, increase in ore product quality and improvement of processing efficiencies.

Feb 27, 2013

By S. Agarwal, S. Frimpong

The creation and maintenance of a healthy working environment in surface mining operations require sustained efforts in pursuing advanced research initiatives toward the development and deployment of powered haulage technologies. This paper contains progress summary on a frontier research in truck dynamic control, vision and collision avoidance. This research is required to provide solutions to challenging problems regarding operator visibility in truck haulage in a surface mining environment. The paper focuses on truck control kinematics and dynamics, truck-haul road interactions, intelligent truck sensing, intelligent truck collision avoidance system, integrated system for situational awareness, augmented visualization and operator interface, and field testing and error variance modeling of developed technologies. A sensor suite of four subsystems, including front-side stereo-camera, front-side Doppler radar, close range sonar proximity sensors, and rear-side camera system have been recommended for developing a 360° truck operator vision to allow safe operations. This research initiative is significant because it will provide a strong basis for developing technologies to improve truck haulage safety in surface mines and construction sites.

Jan 1, 2007

By W. Langer

Of the 50 or so most often utilized industrial minerals, more than two thirds are, or have been, produced in the western states of Arizona, Colorado, Idaho, Kansas, Montana, Nebraska, New Mexico, North Dakota, Oklahoma, South Dakota, Texas, Utah, and Wyoming. Some commodities, such as natural aggregate, currently are produced in all 13 states; others such as beryllium and iodine are produced in only Utah and Oklahoma, respectively. Together, the 13 western states make a significant contribution to the US industrial minerals industry.

Jan 1, 2007

By E. Tulcanaza

M.S. Azun I do not at all agree with the basic points of the author&apos;s conclusion. The use of lognormal or normal model to respond to the attribute distribution function should be carefully questioned. If fitting a distribution function of regionalized variables is the main purpose, one may employ one of certain well-known families of distributions, such as Tukey&apos;s lambda functions. For instance, the distribution function of gold assay values studied by Krige (Krige, 1978) may fit the lognormal model well, but one should not exclude that the basic idea of using the distribution function of observed data is to have insight of the physical mechanism that gives rise to the regionalized variables. In Applied Geostatistics, there are many examples considering only lognormal or normal model for the distribution function of geostatistical data even if the observed distribution function has more than one mode. Of course, using lognormal or normal model always brings easy computation for the statistical properties of attribute under investigation. Still, I object to adopting any of those models without having any "statistical inference." As seen from the author&apos;s paper, lognormal and normal model produce the same average grade (0.746% copper) and almost the same sample variance. Therefore, which model explains the probabilistic behavior of ore deposit is always an important question that should be replied by the geostatistician using not the common sense but the statistical and probabilistic methods. For kriging procedures, such as linear kriging, one should describe either second order stationary properties or bivariate properties of regionalized variables. Second order properties, such as correlogram function or semivariogram function, are the inputs of the so-called kriging equations. Selecting one of any useable models for the observed second order properties, such as spherical model, is not easy since the models are not based on the correlations structure of the regionalized variables. How those models being used in Applied Geostatistics can be distinguished is another important problem. One may develop many fitting models to respond to the observed second order properties of regionalized variables. However, I suggest that the model should be based on the probabilistic behavior of geologic process. The author used spherical model for copper, wolfram, and silver grades from isotropic sector (Fig. 2, 4, 3b) and exponential model for silver grades obtained along raises in isotropic sector (Fig. 3a). It seems that those semivariograms given in Fig. 3b for isotropic sector and Fig. 4 may be described by the random model implying that regionalized variables do belong to renewal process (Azun, 1983). If I knew the total number of data points used in estimation, I may prove that my conclusion is correct. Recalling the test for the first order sample correlogram value, the test procedure is introduced such that the independence is rejected if [ ] where Za/2 is the a/2 percentile of standard normal random variable and N is the total number of samples used in estimation (Azun, 1983). For the other observed semivariogram functions I suggest the author might try to use the so-called "Markovian model" describing not only the correlation structure of regionalized variables, but also the physical mechanism that produces the regionalized variables. The Markovian model for correlogram function is, [ ] The Markovian model for the other second order properties of ReV are also derived. T ve B, in the above equation, show, for example, structural change and mineralizational variation in a considered deposit, respectively (Azun, 1983). In selecting any model, it is not easy to search for the "best" response to the observed second order properties of ReV&apos;s. The Markovian model, based on a theoretical understanding of underlying mechanism, gives more information about the occurrence of regionalized variables and respond to all properties. Random model and the so-called hole effect structure can be easily defined as a special form of the Markovian model (Azun, 1983). An estimation of any second order properties of regionalized variables may be computed through (N-1) lag. However, the dependency between the regionalized variables may be deemed to have "died out" after the so-called stationarity width (range). In practice, the estimation is carried out through 25% of the total number samples available. Therefore, the large fluctuations around the zero level and variance for correlogram or covariogram function and semi-variogram function, respectively, cannot be observed. Since the number of pairs involved in the estimation of higher second order properties is small, the estimation variance at those lags is large. There is no need to show higher order estimated second order properties. After using one of any kriging procedure for block estimation, the distribution function of average grades has the same mean as the drilling sample grades but

Jan 3, 1985

By Felicity Lloyd, Stuart Kearns, Roger McLimans

The metamorphic terrane of southwestern India is a geological environment containing ilmenite source-rocks, transport drainage systems, and resultant beach sand deposits that contain altered ilmenites greater than 60wt% TiO2. As such, this environment provides a geological laboratory, from source to deposit, for the investigation of ilmenite origin, alteration, and geochemical character. Ilmenite samples from potential source rocks, river sands, and beach sands all show degrees of alteration and a variety of alteration textures (iron leaching) producing leucoxene (here defined as >70 <90wt% TiO2) and progressing to rutile (here defined as >90wt% TiO2). Distinct alteration textures are specific to different source rocks and are used together with trace element geochemistry as provenance criteria. Ilmenites are classified on the basis of their trace element content. In India, the ilmenites are classified principally according to the Mg, Nb, and Mn content and this signature defines potential source rocks, even where the ilmenite is altered to a TiO2 content of 70wt%. The trace element data may fingerprint source rocks whose ilmenite is more prone to iron leaching and that criterion has application in exploration for higher-grade ilmenites.

Jan 1, 2005

By J. Pesl, R. Hurman Eric

Metal-slag phase compositions of molten iron and ilmenite smelting slags or solid titanate phases were determined between 1500° and 1700°C. The influence of oxygen partial pressure and impurity oxide additions including Al2O3, Cr2O3, MgO and SiO2 were investigated along with amount of reductant-carbon. The XRD revealed that the quenched slag crystallized as pseudobrookite (M3O5) solid solution in equilibrium with iron. Silica additions formed separate silicate phases because of its immiscibility in the titanate phase. Under strong reducing conditions iron oxide was almost completely reduced and the slag phase solidified as a consequence thereof. Cr2O3. SiO2 and MnO were also reduced to a high degree. Under weak reducing conditions the slag was fully molten and non of the impurity oxides were reduced. A significant portion of manganese, some magnesia and silicon, in the form of SiO gas, were removed via the gas phase due to their considerable vapour pressures. Alumina was not reduced under the applied conditions. A comparison of the experimental results with industrial data clearly suggested that industrial ilmenite smelting process operated under non-equilibrium conditions.

Jan 1, 2005

By K. G. Kebkal, R. Bannasch

"Because the operation of tethered underwater vehicles in the deep ocean or under drifting ice areas is very complicated or impossible, the application of autonomous underwater vehicles (AUV) is preferred or even the only possible solution. However, this implies the possibility of a direct and real-time control over all AUV functions, which is only achievable with the availability of accurate positioning/navigation and a high-speed communication link. This paper presents a flexible bottom- or surface-based solution enabling high positioning accuracy of underwater objects (harvester, AUVs, bottom nodes); specifically, a multifunctional system that combines Ultra Short Baseline (USBL) transceivers and Long BaseLine (LBL) stations deployed at a large depth. Moreover, each baseline transponder is equipped with a high-speed communication device to provide the means for real-time AUV control based on the information about its current position, e.g. navigate it with direct commands and operating its actuators and other mechanisms. Moreover a communication link with a high data rate can provide valuable visual information from the operation area.Depending on how many nodes the LBL grid comprise has, target transponder positions can be estimated with an accuracy of several to tens of centimetres. The purpose of the paper is to present the experiments with all key elements of the multifunctional Hydro-Acoustic USBL-aided LBL Positioning and Communication System."

Sep 1, 2014