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Development of aggregate resources for use in structural concrete has been encouraged in Japan to support infrastructure improvement and national land conservation. Natural aggregate is a valuable resource necessary for sound economic development, and its importance is growing. After completion of aggregate mining projects, planting and afforestation are implemented. But sandy soil in excavation sites is not optimum for the growth of vegetation, and many years are needed before forests are restored. Planting techniques should be improved to support efficient reforestation in a shorter period of time. For this purpose, problems hampering growth of vegetation must to be solved through application of physical and physicochemical techniques to ensure that the environment and the ecosystem will be conserved in project sites.

Dec 6, 2010

By D Barclay, S Mercer, S Wright

Mine water management is often an afterthought in mine planning processes and can introduce significant risks to projects when studied as a stand alone component at a later stage in the mine design. Incorporation of a mine dewatering and pore pressure dissipation strategy in the early stages of mine planning is imperative in order to minimise constraints on the production schedule, to match designed pit slopes and maximise project value for an open cut mine option such as Olympic Dam. A risk-based mine planning approach was adopted during the project selection phase study whereby water management was introduced into mine planning, scheduling and the development of an operational strategy. Hydrological and hydrogeological studies and outputs were successfully integrated into the various iterations of the mine planning cycle during early selection phase to manage the potential water management risks associated with pit slope depressurisation and access to dry working conditions during rapid advancement of mining phases.An extensive network of vibrating wire piezometer sets and long-term depressurisation testing characterised aquifer conditions and demonstrated that hydraulic connectivity exists within the geological profile due to the presence of structures and resource drill holes which enhance vertical connectivity. This connectivity, along with underdrainage from mining activities contributes up to 100 m of depressurisation in low permeability units.A pit dewatering strategy incorporates the mine planning schedules and accounts for operational constraints as to the location and development of the dewatering wells, storages and pipelines. Numerical modelling generated a range of likely pit inflows and dewatering requirements with the average initial dewatering discharge likely to be 150 L/s and reduce quickly to 50 L/s after five years, depending on the premine schedule.Coupled hydrogeological and geotechnical assessments were also carried out as part of the mine planning cycle and indicate that successful dewatering will go a long way to reduce the pore pressures within key geotechnical units during the rapid mining phase where around 300 m of cover sequence is stripped in five years. However, the residual storage in the primary aquifer and the residual pore pressure in underlying low permeability units will need to be dissipated (in-pit horizontal holes) as the pit floor advances. Pit slope design angles are sensitive to depressurisation and dewatering and up to 70 per cent depressurisation of key geotechnical rock units are required. Whilst an accelerated program of aquifer dewatering supported by lithostatic unloading should drive rapid depressurisation in the lower permeability units, intervention is anticipated in key geotechnical units such as the Tregolana Shale and volcaniclastics. The extent of induced drainage will ultimately depend in part upon the mining rate and geotechnical stability requirements. Practical operability testing addressed the potential for operational constraints to mine depressurisation activities such as congestion and mining schedule development within the pit and identified that depressurisation drilling can be achieved even with reduced access availability. Mine operations and planning groups established design criteria and considered the likely inoperable periods following rainfall events of seven to 14 days to manage the base surge and minimise impact on production. In-pit surface water management options to minimise operational disruptions during and after significant rainfall events were estimated used a stochastic approach.

Jan 1, 2009

By Napisporn Memongkol

Syntheses of Al-TiC-Al2O3 and Al-SiC-Al2O3 composites were obtained in situ by carbothermal reduction of mixtures of Al powder, TiO2 powder and activated carbon powders and Al powder, SiO2 powder and activated carbon powders. The reductions were carried out in a horizontal tube furnace under flow of inert gas. The standard Gibbs energy minimization method was used to calculate the equilibrium composition of the reacting species. The synthesized products were mixtures of aluminum reinforce with titanium carbide and alumina and aluminum reinforce with silicon carbide and alumina. The effect of the reaction temperature (1000 o C ? 1200 o C) and condition of precursors on the Al powder, TiO2 powder and activated carbon powders and Al powder, SiO2 powder and activated carbon powders were investigated using XRD and SEM method. The synthesized products showed those composites with aluminum matrix and titanium carbide and alumina as reinforced phases and aluminum matrix and silicon carbide and alumina as a reinforced phase was formed.

Jan 1, 2006

By R. Altindag

Engineers and researchers need to estimate the mechanical properties of rocks from P-wave velocity. In previous studies, the researchers have investigated either the limited values or all the data belonging to sedimentary, igneous, and metamorphic rocks together in the same statistical analysis. In this study, the raw data pertaining to only sedimentary rocks was taken from previous studies and evaluated. For this purpose, a total of 97 samples of sedimentary rock types were subjected to statistical analysis. First, the relationships between P-wave velocity and physical-mechanical properties were investigated by simple regression analysis. All the data were then subjected to multi-regression analysis. Some empirical equations with high correlation coefficients were derived for rock engineers. The equations obtained from the analyses are compared with previous equations found in literature.

Jan 1, 2012

This modern plant consists of a battery of 72 Otto Wilputte Compound Under-jet Ovens with extensive plant for the recovery by-products. The ovens produce 9000 tons of furnace coke per week together with some 17,000,000 cub. ft. of coke oven gas, which is used for heating purposes throughout the works and for heating the ovens.Coal is supplied from the, company's colliel'ies and is stored under a Coal Handling Bridge of 264 ft. span and 365 ft. overall, capable of handling 250 tons per hour. The coal storage space of 1600 ft. can. be extended to a maximum of 2800 ft.Preparation of the coal for coking involves fine grinding which is carried out as follows:-Coal is dumped from rail waggons on to a conveyer belt which delivers it to a 12 ft. x 22 ft. Bradford Breaker, with a capacity of 400 tons per hour. The coal, then approximately 4 in. in size, passes, to the mixing bins; and after careful blending is reduced in the,hammer mills to a fineness suitable for the ovens.The fire coal is elevated to the main storage bin over the battery for subsequent charging by electric larry car. The average cokingtime is 15 hrs. 36 mins. At the end of ,this period the doors, are removed and the coke pushed from the oven by a mm. The coke, is, then quenched with fresh, water and sent to the Blast Furnace in 50-ton Copper Waggons.The gas is exhausted from the ovens by Brown Boveri turbine, exhausters of 23,000. cub, ft, per min. capacity. Exhaust steam from these is used for various. purposes in the By-Product plant. After removing the last traces of tar by Electrostatic Precipitators', the gas is bubbled through sulphuric acid, the ammonia forming ammonium sulphate, which is subsequently washed, dried and bagged for sa,le as a fertilizer. The gas then goes to the Benzol Scrubber Towers, where benzol and other derivatives are recovered and later redistilled and purified. The cleaned gas is then piped to the main works for heating purposes, being used with tar to fire the steel furnaces, and also the soaking pits and reheating furnaces.BLAST FURNACES.The company is at present operating two Blast Furnaces of 800, and 1000 tons nominal daily capacity respectively. The latter was...

Jan 1, 1938

By Clayr Alexander

Stillwater Mining Co. (SMC) is engaged in developing, extracting, processing and refining palladium, platinum and associated metals (PGM)from the J-M Reef. This geological formation is located in Stillwater, Sweet Grass and Park counties in southern Montana. Associated byproduct metals include rhodium, gold, silver, nickel and copper. SMC’s current mining operations are near Nye, MT. The company is currently developing a second underground palladium and platinum mine, the East Boulder project, about 21 km (13 miles) west of the Nye operations. A 5,650-m (18,550-ft) tunnel is required to gain access to the ore-bearing horizon (J-M Reef).

Jan 1, 1999

By Ryan Higbie, King Chin, Matthew Anderson, Mike Huggins, Rian Johnson, Dave Sinsheimer

"The Permanent Canal Closures and Pumps (PCCP) project is the capstone piece of New Orleans’ extensive hurricane risk-reduction system constructed following Hurricane Katrina. The project consists of three discrete pump stations and flood gates on the shore of Lake Pontchartrain which provide a storm surge barrier and pump rainwater from the City of New Orleans’ primary drainage canals. The depth of the pump station structures ranged between 39 and 45 feet below sea-level. USACE developed the PCCP project for design-build delivery; granting the project team latitude to develop innovative, cost effective solutions for the project. The use of OPEN CELLTM cofferdams to construct the pump station structures was one such innovation. OPEN CELL structures utilize the strength of the retained soil to anchor cellular sheet pile face arcs; allowing a free-field of construction within the cofferdam. This cofferdam design did not require ground improvement or dewatering around the perimeter of the cofferdam. The free-field cofferdams streamlined construction and large equipment installation within the structures with no encumbrance from internal bracing. Meticulous force-based design, soil-structure numerical modeling, and physical testing were all techniques used to present and gain USACE acceptance of the design on this vital element of the work.PROJECT DESCRIPTIONThe Permanent Canal Closures and Pumps (PCCP) project is the capstone piece of the City of New Orleans’ extensive hurricane risk-reductions system constructed following Hurricane Katrina in 2005. The project encompasses three separate pump stations and floodgate structures located at the mouths of three outfall canals (17th Street, Orleans, and London) on the south shore of Lake Pontchartrain. These three canals, running from the south to north, act as the primary conduits for discharging water from the New Orleans area. Prior to Hurricane Katrina, these canals were operated with pump stations two to three miles upstream of the mouths at Lake Pontchartrain. This left long stretches of levee on each side of the canals exposed to storm surges entering from the lake. Three levee failures occurred along these canals during Katrina; two at London Canal and one at 17th Street Canal. The failures resulted in major flooding of the surrounding neighborhoods, significant damages, and loss of life.Following initial canal levee repairs after Hurricane Katrina, USACE, in partnership with the Louisiana Coastal Protection and Restoration Authority (CPRA), took action to move the line of flood protection to the mouths of these three canals at the edge of the lake. By cutting off the storm surges from Lake Pontchartrain at the entrance to the canal, over ten miles of canal levee would no longer be exposed to storm surge water elevations, significantly decreasing the risk of failure."

Jan 1, 2017

Extending an organization?s knowledge base throughout the entire enterprise can improve operations. Until recently, though, field operations were often left out of the information loop, as extending high-bandwidth communications into harsh environments often proved impossible due to thermal extremes, physical hazards and caustic chemicals. However, advances in the design and manufacture of rugged fiberoptic cables have now enabled the successful installation of 10-gigabit transmission links to places such as mining operations. The experience of Consol Energy exemplifies how plant managers can successfully enlist ruggedized tight buffered cables to help carry the efficiency of ERP communications into even the most challenging work environments. ?As part of our ERP implementation, we extended our corporate network underground into our mines using fi beroptic cable,? said Tom Prokop, manager-site support for Consol Energy. ?We?ve actually had rooffalls bury the cable between rocks and still did not lose data communications. Our maintenance personnel are now able to access our ERP system while underground at locations that can be up to 32 km (20 miles) away from their desks or the warehouse. Access to the corporate network allows them to order parts, look at electronic schematics, access monitoring data, no matter where they are in the mine. With a few hundred workers below ground, this immediate access translates into a time-savings that adds up in a hurry.?

Jan 1, 2009

By Radianto Elprama

For the realisation of the underground railway line RandstadRail in the city area of Rotterdam a bored tunnel is under construction. Diaphragm walls up to a depth of about 40 m were used to construct the building pits for the start shaft, the Blijdorp Station and the end shaft. The water tightness of the diaphragm walls was determined by leakage tests that were executed after the construction of the walls, but prior to the excavation of the building pits. The tests showed satisfactory results with a hydraulic resistance of the diaphragm walls of at least 500 days. To determine the water tightness of diaphragm walls it is recommended to follow the specific procedure as described in this paper.

Jan 1, 2006

By Bob King

Jan 1, 2005

By Rameshwar Sah, Somasekhar Pitchika, Akhil Singh, Seenivasan Rajiah, C. B. Dayanand, G. Balachandran

In the sintering of iron ores, the partial substitution of anthracite coal for coke breeze has been considered to be an effective way of reducing emissions and improvement in sintering properties. In the present study, the combustion characteristics of the anthracite coal and coke breeze were investigated and its influence on product sinter quality and sinter flue gases is being monitored. Pot trials are carried out with different coke breeze ratios, 0%, 40%, 50%, 60%, and 100%. It is found that as the percentage of anthracite coal is increased from 0 to 100%, the sintering time decreased from 24 to 20 min, and the productivity increased from 2.25 to 2.60 t/h/m2. Up to 60% anthracite coal substitution Tumbler index (+ 6.3 mm%), Product yield (+ 5 mm%), and fines generation (− 5 mm%) is found 62.29%, 85.17%, and 15.33%; moreover, hematite ( Fe2O3), magnetite ( Fe3O4), calcium ferrite phases ( CaFe2O4, CaFe3O5), and Silico ferrite of calcium and aluminum (SFCA) are major mineral phases found during microstructural analysis of product sinter. Keywords Sintering · Anthracite coal · Combustion rate · Productivity

Jun 2, 2022

By Sivilay Sayavong, David Puller, Julian Gatward, David Hard, Martin Stanley

"AbstractThe Thames Water Tideway Tunnels programme involves the upgrade of London’s combined sewer and storm water system. The first section is the Lee Tunnel between the Beckton Sewage Treatment Works (STW) and the Abbey Mills Pumping Station. This will intercept the overflows currently discharging to the River Lee and has the capacity to store and transfer 350,000m3 of storm water and sewage. The project required 4 shafts and a 6.9km 7.2m diameter tunnel. The shafts are some of the largest ever constructed in the UK, with diaphragm walls up to 98m deep and 1800mm thick. As a result of the innovative methods of diaphragm wall design and construction adopted the 4 very large and deep shafts were able to be excavated and completed safely, with minimal water ingress and with extremely high quality.MVB, a joint venture of Morgan Sindall, Vinci Construction Grands Projets and Bachy Soletanche are delivering the £635m contract with Thames Water’s Project Management Team in a collaborative manner under an NEC contract. Mott MacDonald, Morgan Sindall UnPS & Bachy Soletanche are acting as designers.Some of the important advances in diaphragm walling made included:??Diaphragm wall design to both EC2 & EC7 taking into considering the assessment of chalk stiffness, high hoop stresses, large multiple openings and non-axisymmetric loadings.??Formation of shafts as a faceted circle from a series of overlapping panels, with primary panels up to 7.2m wide demanding concrete volumes up to 1300m3 be poured in one go. Overlapping secondary single bite panels cut into the grade C50/60 concrete.??Excavation of the full geological stratigraphy of London making bentonite management complex.??Panel verticality of 1:300 required over the full depth. The results achieved this and in many cases exceeded expectations with some panels coming in at up to 1 in 800 with the majority at 1 in 400 to 1 in 500. The project is also the first in the Soletanche Bachy Group to take data from the ultrasonic drilling monitor used to check the verticalty in electronic format in order to create 3D CAD as-built drawings.??Each diaphragm wall panel was reinforced over its full depth. Up to 18 separate pieces of reinforcing cage had to be installed in primary panels. Cages underwent a full range of temporary works designs to check that lifting, splicing and placing could all be undertaken safely. Fibreglass was used in the tunnel portals in the shafts to ease breakthroughs."

Jan 1, 2014

By Fadeela Saloojee, Frank K. Crundwell

"Pressure leaching is an option for copper recovery from chalcopyrite. Leaching takes place at high temperatures and pressures in the presence of an oxidising agent. This work shows how the performance of pressure leaching circuits may be improved by optimising the configuration of autoclaves and the heat-removal method. The objective was achieved by creating an autoclave model by combining mass balances, energy balances and population balances. A base-case circuit consisting of a single autoclave was chosen, and this base case was compared with options for increasing capacity by adding more autoclaves to the circuit. These capacity–increase options include circuits in which the additional autoclave is added in parallel, in series and in series with thickening between the two autoclaves. The copper extraction, productivity and cooling requirements for these options are compared. The series circuit with inter-stage thickening has the highest extraction and productivity, however, the cooling duty in the first autoclave is high. In addition to comparing circuit options, three options for heat removal were investigated: cooling coils, quench water and flash recycling. The flash-recycle option results in the highest copper extraction, and the quench-water option gives the lowest copper extraction. INTRODUCTION Background Copper sulfide ores and concentrates containing chalcopyrite are typically hard to leach under atmospheric conditions. Smelting of these ores may also be a challenge, due to the inability of smelting processes to handle low-grade ores, as well as impurities such as arsenic and antimony. Alternative hydrometallurgical routes to treating chalcopyrite are therefore required. One option is pressure leaching, which is the focus of this work. In the pressure leaching process, sulfide ores and concentrates are leached in autoclaves at temperatures of 200 to 220°C and a pressure of about 3000 kPa (Schlesinger et al., 2011). An oxidising agent, usually oxygen, is required to oxidise sulfide ions to sulfate ions. The oxidation of sulfur to sulfate is exothermic; consequently, a method of heat removal is necessary in order to maintain the temperature in the autoclave."

Jan 1, 2015

By G. W. Grove, E. E. Quenon

"INTRODUCTION During September, October, and November 1946 the Safety Division of the Bureau of Mines, off' the United States Department of the Interior, Pittsburgh, Pa., tested four new types of self-contained breathing apparatus and approved them in accordance with Schedule 13C. Approval was granted with the proviso that certain specifications outlined on the approval plate be made fully effective, and with the understanding that established safe practices in training in the care and use of self-contained breathing apparatus are of major importance.The excellent records made during the past 30 years in the safe use of self-contained breathing apparatus, some of which required the almost continuous wearing of apparatus during several hours daily for days, weeks, or months, may be attributed largely to the Bureau's system of rescue organizations, selection of physically fit rescue workers, effective training, and educational work done in rescue and recovery operations during fires or following disasters and in the care and use of self-contained breathing apparatus. Loss of life during wearing of breathing apparatus was due almost invariably to poorly assembled or otherwise defective apparatus, poor physical condition of the wearer, or insufficient training or some incorrect procedure.The newly developed breathing apparatus are of much simpler design than the conventional type used for the past several years; however, it is just as important to select rescue crews carefully and to train them properly in the care, use, and limitations of the new types of apparatus as for the older long-established types, if anything like safety is to be achieved in using them. The Bureau of Mines considers that 1/2-hour and 3/4-hour self-contained breathing apparatus should be used only as auxiliary equipment in mine rescue and recovery work, and their capabilities and limitations should be well understood by those who wear them."

Jul 1, 1947

By F. Qi, T. Frišcic, C. Mottillo

"One of the principal goals of modern industry is to minimize the environmental impact and increase the materials- and energy-efficiency of transforming raw materials into valuable products. This paper will highlight our latest laboratory-scale research in low-energy, low-solvent reactivity of metal oxides and their conversion into popular metal-organic frameworks (MOFs), zeolitic imidazolate frameworks (e.g. Basolite® Z1200 component ZIF-8), and metallodrugs (e.g. bismuth subsalicylate, active component of Pepto-Bismol®). Mechanochemical ion- and liquid-assisted grinding (ILAG) and ""accelerated aging"" techniques will be presented, along with novel low-energy and solvent-free approaches, inspired by geological weathering processes, for converting metal oxides into metal-organic materials. INTRODUCTIONThe development of environmentally-friendly processes, which would in the same time be more materials- and energy-efficient than the existing ones, is one of the central concerns of modern chemical research. In that sense, the focus of the chemist has been mainly on the preparation of carbon-based organic molecules and adaptation of traditional organic synthesis to the recently delineated ideals of Green Chemistry. However, there is a growing realization within the chemistry community that significant energy, materials, and ecology-related benefits can be achieved and, indeed, targeted in the transformations of materials that are typically associated with inorganic chemistry and minerals processing. The principal aim of this highlight contribution is to illustrate how, through the use of approaches associated with solventfree chemistry and mechanochemistry (James et al., 2012), one can develop a clean and efficient system of chemical and materials transformations involving oxide precursors that normally belong to the realm of inorganic chemistry and mineral processing. In particular, this contribution will provide an overview of the recently developed mechanochemical and solvent-free reactivity of metal oxides towards small organic molecules. These mechanochemical reactions, including the methods of liquid-assisted grinding (LAG, Frišcic & Jones, 2009) and ion- and liquid-assisted grinding (ILAG, Frišcic, 2010), have so far provided a radically different means to construct advanced metal-organic materials (e.g. porous metal-organic frameworks, [MOFs] or metallodrugs) by rehabilitating metal oxides as precursors, eliminating the use of bulk organic solvents, and avoiding the use of high temperatures."

Jan 1, 2012

By Aloke Verma, R. Singh, S. Jana, C. Sawmliana, P. Pal Roy

On July 21, 2004, a trial blast using electronic detonators was conducted in India for the first time in an opencast mine at Pundi-E Quarry of TISCO, West Bokaro. Orica-IEL conducted the test using electronic detonators. To provide necessary technical feedback on wider applicability, CMRI scientists also participated in the trial blast.

Jan 1, 2006

By Kirk A. Mcintosh

Augered, cast-in-place (ACIP) piles have been utilized in the United States for a wide range of projects since the 1950's. Due to the cast-in-place nature of the installation method (and lack of a driving criteria); however, ACIP piles have not been readily accepted by some practicing geotechnical and structural engineers. Since ACIP piles were initially developed, the installation equipment and techniques have been improved and refined and the number of experienced contractors has significantly increased. Over the past 10 to 15 years, the pile type has experienced significant growth in the United States (particularly in Florida) because engineers have become more knowledgeable and comfortable with its use. The Miami area, in particular, has experienced considerable growth in the utilization of ACIP piles primarily due to their usage on the $1 billion Miami Metrorail System project in the early 1980s. The economic advantages over other deep foundation types, coupled with some unique installation advantages, have shown that ACIP piles can be a viable foundation alternative on many projects. Even though ACIP piles have gained respect in the private sector, the pile type has generally not been readily accepted by government transportation agencies. The reluctance to readily accept this foundation type stems primarily from the quality assurance aspect of cast-in-place pile construction. Additionally, there has not been much research activity on this foundation type, technical papers, formal associations (other than the DFI), or a concerted effort to standardize the industry. This paper serves to discuss the state of practice for ACIP pile installation in the state of Florida.

Jan 1, 1997

By Bruno Gemmi

A new warehouse built with prefabricated components over an area underlined by soft marine soil deposits started showing differential settlements well before its completion. Its 103 spread footings carrying up to 4,000kN (450t) axial loads had been cast on jet-grouted columns extending and penetrating a layer of sand at a depth of 10m (33ft). Investigations performed to assess the wholeness and consistency of the jet-grouted columns revealed a state of loose jet-grouted masses and uncontrolled, off target migrations of the jet-grouting. Most of the jet-grouting itself was settling. The following remedial solutions were suggested: 1. Construction of new and better controlled jet-grouted columns. 2. Cement-based soil grouting. 3. Expanding resin injections. 4. Minipiles drilled-through the existing footings and reaching into a denser layer of sand existing at 23m below grade. Remedial solution 1. was immediately discarded due to cost and the possibility of a repeating failure in this non-granular and highly compressible soil. Tests of remedial solutions 2. and 3. were carried out. The outcome of the grouting was monitored by Electro Resistivity Tomography (ERT) (Bares et al., 2003), an innovative 3D electro tomography procedure showing where grout had been actually placed and its migrations off target. A successful 4,000kN (450t) load tests confirmed the validity of the solution. Finally, upon the completion of a successful load test, solution 4. was chosen. It supplied the highest degree of reliability thanks to the ease of controlling the final and actual location of the minipiles and to the higher safety factor provided. All remedial work to install the minipiles was eventually performed inside the building. Additional load tests and settlement measurements confirmed the adequacy and success of the chosen solution.

Jan 1, 2011

By H. Meseck

The new building of the Central Bank of Iraq in Baghdad was footed in difficult underground conditions on more than 600 reinforced concrete driven piles, with cross-sectional diameters of 45 x 45 cm and pile lengths of 12.0 to 18.0 m. The necessary embedded depth and the bearing capacity thus reached were established on all 600 drives piles by means of dynamic pile tests. For the calibration of the dynamic pile tests, 6 static pile load tests were carried out. The execution of the construction and the results of the extensive tests on the building site are shown.

Jan 1, 1989

By J. D. Lane

The U.S. Bureau of Mines is conducting research on guidance systems for computerized haulage in underground mines. This report describes the process of component selection, installation and testing, perception algorithm development, and steering control algorithm development, to produce a real-time steering control system for an articulated haul truck for underground mining. Ultrasonic transducers were mounted on the truck to provide perception data by measuring the distance to the ribs. Linear potentiometers mounted inside the steering cylinders measured the steering angles. Algorithms, implemented on an inexpensive, robust onboard computer system, analyzed the data and controlled the steering via an electro-hydraulic proportional valve. The steering algorithm presented follows a zone defined by the relative position between the truck and a rib. Experimental verification of the ability to follow the zone in a test corridor on the Colorado School of Mines campus is presented. The automatic steering system successfully negotiated straight sections, curves, and the transition zones between straight and curves with the truck in first and second gears. The resulting real-time automatic-steering system can be applied to many underground articulated machines.

Jan 1, 1994