Search Documents

By Daryl E. Radcliffe, Raymond M. Stateham

The Bureau of Mines, under a Cooperative Agreement with the Bear Coal Company, Somerset, Colorado, conducted a large scale evaluation of the effect of time lapse on roof stability. Time lapse in this study is the interval between exposure and permanent support of the mine roof. The study indicates that time lapse is not a critical factor in roof stability provided permanent support is installed before catastrophic failure begins. Concurrently with the time lapse study, investigations were made of stress distribution around resin-grouted bolts, the regional stress field, and anomalous geologic conditions. The behavior of the resin-grouted bolts, at least in the Bear mine, appears to fit the Coulomb-Navier Theory. Geologic conditions are primary factors in trends of roof stability that extend across the mine.

Jan 1, 1982

By QINGXIANG CAI, Lin Li, PENG LIU, IZHAR MITHAL JISKANI, XIANG LU, Wei Zhou, YONGLI ZHOU

Green mining is the latest technological advancement to reduce mining’s environmental impact with minimal energy and resource consumption. Green mining — aimed at protecting nature and providing socio-economic benefits — is a multifaceted network of its connotations and key indicators. China has not yet defined its connotation and formed an effective evaluation system for surface mining. We defined its connotation and developed an evaluation index system based on the theory of green grades. As the indicators are selected based on extensive research, they express the advantages and disadvantages of various aspects of a mine. The index is composed of three attributes (safety, efficiency and environment), nine criteria and 35 indicators. The indicators were quantified according to experts’ opinions using the fuzzy comprehensive evaluation method. The results of a case study show that the environment is the most critical aspect, followed by efficiency and safety. This study can provide technical support for the development of green mining.

By R. E. Ray

Compared to conventional fully ducted axial and centrifugal fan systems, jet fans can offer a number of advantages for control of smoke during fire emergencies and dilution of diesel engine exhaust products in vehicular and rail tunnels. The success of jet fan applications is the result of a balance between the temperature de-rating of the fan, buoyancy forces and the installation momentum transfer efficiency. This paper provides a case study of a unique application of vertically-mounted jet fans in ventilation shafts used to provide both emergency ventilation and pollution control for an overbuild created by the construction of a series of commercial high-rise residential buildings over a portion of an existing passenger rail line. A detailed evaluation of a set of shafts for one building is presented, including a discussion of the calculation methods used to estimate the required jet fan capacity and the results of the subsequent numerical analysis using Computational Fluid Dynamics to simulate the performance of the jet fans during train car fire emergencies.

Jan 1, 2009

By Pan Gao, Songyang Yin, Zhibiao Guo, Jinglin You, Yuhui Li

Under the geological conditions of the interaction of upper goafs and lower working face in deep mining, coal seam mining causes a large stress concentration, which may lead to large deformation of the surrounding rock and rock burst risk. The research reported herein is aimed to utilize the FLAC3D software to establish a three-dimensional numerical model and analyze the law of the surrounding rock stress evolution during coal mining under complex geological conditions. The simulation results reveal that the peak abutment stress reaches its maximum value at 20–30 m in front of the working face, about 1.8–4.3 times the original rock stress, and the peak stress is larger in the stable mining stage. Along the dip of the working face, the peak stress occurs about 8–10 m away from the roadway side. The upper barrier coal pillar and the interval coal pillar in order exhibit stress concentration areas of 142 m and 88 m. According to the law of the deflection stress distribution of the surrounding rock in the presence of various widths of the coal pillar, a 10-m coal pillar between the roadway and the adjacent goaf could enhance the stability of the roadway. For the stress concentration area, drilling holes with a depth of 20–25 m are utilized to reduce the pressure, and anti-impact supports are installed in the middle of the roadway. Due to the varying stresses of the rocks around the roadway, partition prevention and control countermeasures are capable of efficiently preventing the instability of the surrounding rock.

Mar 22, 2023

By Z. Hyder, A. Urquidez

"INTRODUCTION The Waste Isolation Pilot Plant (WIPP) is located approximately 26 miles southeast of Carlsbad, New Mexico and is the nation’s first underground geologic repository for transuranic (TRU) and TRU-mixed waste (see Figure 1). The WIPP facility was opened for operation in 1999 when the first TRU waste shipment arrived at the WIPP facility for disposal.WIPP facility does not employ typical production aspects of a conventional mine. Instead, the mining focus is on the quality of the excavation to ensure safe disposal of TRU and TRU-mixed waste (Walls, 1991). GEOLOGY WIPP underground repository is mined within a 2,000 feet-thick bedded-halite formation (Salado Formation) (see Figure 2). The WIPP underground repository is located approximately 2,150 feet beneath the surface near the center of the Salado Formation. Geologic criterion and site-selection factors evaluated for the selection of the repository included topography, depth, thickness, lateral extent, lithology, stratigraphy, structure, erosion, dissolution, subsidence, surface water, aquifers, hydrologic transport, climatic fluctuations, manmade penetrations (U.S. Department of Energy, 1980).FACILITY DESIGN Profit did not play a major role in the WIPP’s conception like in a conventional mine. This was due to the extensive amount of additional regulations and safety controls that had to be built into the WIPP facility. Since it is nuclear and hazardous waste disposal facility, it must meet certain federal and state requirements for TRU-mixed waste. One of the major regulatory drivers for the WIPP facility is defined in the WIPP Land Withdrawal Act (LWA). One of the requirements in the WIPP LWA requires the DOE to submit documentation of continued compliance with Title 40 CFR Part 191, Subparts B, and C. These standards are regulated by the Environmental Protection Agency (EPA). The DOE must submit documentation of continued compliance (recertification) with these regulations every five years. In addition to the LWA, the Resource Conservation and Recovery Act (RCRA) is another major regulatory driver for the WIPP facility. Since the WIPP facility is categorized as a “Miscellaneous Unit” under 40 CFR, it must meet extensive environmental performance standards. These standards are defined in the WIPP Hazardous Waste Facility Permit (HWFP). The HWFP defines the terms and conditions that the Secretary of the New Mexico Environment Department has determined necessary to protect human health and the environment (U.S. Department of Energy and Nuclear Waste Partnership LLC, 2015)."

Jan 1, 2017

By R. J. Sheets

In 2009, the Gold Quarry openpit mine experienced multiple large-scale slope failures of the upper east highwall that reduced gold ore extraction for nearly 18 months. The slope failures occurred within a weak, consolidated sedimentary sequence that exhibits strength characteristics that are transitional between soil and rock. Instability initiated as mining exposed the lower, high plasticity subunits of the Carlin Formation. This deformation created preferential flow paths that allowed ground water from the upper sandy subunits to infiltrate low-permeability, clay-rich subunits, thereby enhancing deformation of the slope toe, which, in turn, destabilized the upper portion of the highwall. The outcome was a 160 m high slope failure that had a lateral run-out of 850 m. The effort to return the pit to ore production required geotechnical and hydrogeological investigations and the preliminary remediation mining activity to be concurrent. This required the development of detailed safety procedures and a requirement to modify the remediation design as new results were obtained. An initial challenge was to mitigate a near vertical, 90 m headscarp with localized, blast-induced slope failures. Back-analyses with numerical modeling software indicated that the failure surface could be shallower, which contradicted the initial failure interpretations. Eventually, drilling results confirmed this alternative failure geometry. The final remediation design incorporated shallower slope geometries and an approximately 3 Mt buttress along the base of the Carlin Formation and bedrock contact to reinforce the subunits with residual strength properties. The results are a stable highwall within the Carlin Formation following nearly 10 years of repeated slope failures, and an example of the necessity to conduct appropriate geotechnical and hydrogeological studies during the early stages of a new layback evaluation or new openpit development.

By K. M. Mohamed, R. K. Zipf

The shear strength properties of generic cement foam material and cement foam/concrete interfaces were examined at three testing scales. In laboratory direct shear tests on specimens with average shearing area of 0.006 m2 (10 in.2), the cement foam material had average peak and residual shear strengths of 0.88 MPa (128 psi) and 0.39 MPa (56 psi), respectively. Depending on the concrete strength, the cement foam/concrete interfaces had peak and residual shear strengths ranging from 0.71 to 0.81 MPa (103 to 117 psi) and from 0.27 to 0.29 MPa (39 to 42 psi), respectively. In laboratory direct double shear tests on specimens with average shearing area of 0.084 m2 (130 in.2), the cement foam/concrete interfaces had average peak and residual shear strengths of 0.17 to 0.30 MPa (25 to 44 psi) and of 0.11 to 0.23 MPa (16 to 33 psi), respectively. In large shear tests of simulated cement foam seals with the Mine Roof Simulator (MRS) test frame, cement foam/concrete interfaces with shearing area of 1.486 m2 (2,304 in.2) had average shear strengths of about 0.08 and 0.16 MPa (11 and 23 psi) along the roof and floor interfaces, respectively. The average shear strength through the cement foam material was 0.38 MPa (55.3 psi). Finite element analysis of the large seal tests and the back analysis of the shear strength of full-scale cement foam seals conducted at the NIOSH Lake Lynn Laboratory confirmed shear strength of about 0.14 MPa (20 psi) along the seal/rock interfaces. The study concluded that the structural analysis of cement foam seals should be based on their residual shear strength determined from small laboratoryscale tests of the cement foam/concrete or rock interface and not be based on their peak strength.

Jan 1, 2014

By T. B. Acton

There are two types of ore transportation systems in use at Newmont's Magma Copper Co. San Manuel mine in Arizona-rail-mounted, box-type rotary cars and the newer rail-mounted, bottom-dumping ASEA cars. Though the cost per car for the ASEA units greatly exceeds the cost per rotary car, the advantages of the ASEA units, including much faster dump times, have made the ASEA system a successful alternative at the San Manuel mine. The rotary system of ore transportation has been in use at San Manuel since production began in 1956. The system employs 7.9-m3 box-type cars to transport ore by rail to shaft pocket areas. A rotating dumping mechanism turns three cars at a time upside down to empty them, and returns them to an upright position. Trains of 15 cars each are dumped in about six minutes. Each 15-car train is pulled by an 18-t rated trolley locomotive. There are about 400 rotary cars in service at San Manuel and the system is used for the majority of ore haulage. This well-proven rotary method was instrumental in achieving the December 1977 world record of 272 Mt hoisted from an underground copper mine. Magma Copper Co. began using ASEA cars in late 1977. Designed by ASEA of Sweden, the cars are built for San Manuel by Kasper-Hall Manufacturing Co. in Tucson. The cars basic design feature is a hinged floor that opens at the side as the car is pulled through the dump. As it passes over the dump, a fifth wheel attached to the hinged floor (opposite the hinges) travels along a rail in the dump. This rail dips down into the pocket and then returns to track level. As the fifth wheel travels along the rail, the car floor opens, the car dumps, and the floor is then returned to track level. As the car is dumping, the body remains suspended over the pocket by wheel rollers attached to each side of the dump. Trains of 10 cars each are emptied in about 45-50 seconds. Each ASEA train is pulled by an 18-t rated trolley locomotive, adapted at San Manuel to allow it to pass through the ASEA dump. At minimal cost, "wings" are welded to each side of the locomotive. These wings suspend the locomotive over the pocket as the train passes through the dump. Advantages of the ASEA System Major design characteristics of the ASEA and rotary systems are shown in the accompanying table. The comparison points out some of the following advantages demonstrated by the ASEA system. • Faster dumping-An ASEA train dumps in 50 seconds, while a rotary train takes at least six minutes. There is no stopping or starting when dumping an ASEA train. The train enters the dump area, dumps, and leaves in one continuous motion-in contrast to rotary trains which must stop and start five times to dump. With the rotary system, three cars are spotted in the dump mechanism by remote control. When the cars are in place, the train operator activates the dump, the cars are turned over, and then returned to an upright position. This process is repeated until all 15 cars in the train are emptied.

Jan 4, 1980

By M. K. McCarter

The history of mining education, like the history of the mining industry, is typified by “boom and bust” cycles. In academia, the perpetual problem can be stated as “too many graduates for the jobs or too many jobs for the graduates.” The deep “bust cycle” that spanned the 1990s through 2003 spawned renewed efforts to eliminate, consolidate, restructure, rename, reinvent or otherwise change mining education to make it (for some) more fiscally or socially acceptable. During this period, a number of mining programs were eliminated, and by the late 1990s senior people in academia and their counter-parts in industry became increasing concerned about the very real possibility that strategic disciplines may disappear altogether. As a result, the Mining and Metallurgy Society of America (MMSA) created an educational committee to explore how industry could help preserve key programs necessary to provide future professionals. Several meetings were held to assess the problems and look for solutions. In 2004, this effort culminated in the first of the “Engineering Education” sessions to be held at the SME Annual Meetings. In response to the information presented in this first meeting, Marc LeVier (then president of MMSA) invited a number of the participants to reconvene the following day. An action plan was formulated and a task force was organized. To more fully represent all industry sectors, SME later that year assumed the sponsorship role for the task force.

Jan 1, 2007

By Mustafa Kumral, Yu Cheng Yang, Zhixuan Shao, Young Bin Moon

Since the discoveries of favorable deposits are becoming increasingly difficult, mining operations shift to lower grade and deeper deposits. The viability of these operations is sensitive to many factors, such as commodity prices and operating costs. Given that a mining corporation has no power to set prices, the focus is directed on minimizing the operating costs. Underground mining operations require a network infrastructure, including shaft, ramps, declines, levels, cross-cuts, raises, winzes, and adit. The design of this network is a costly process. As such, it has a significant potential to reduce development and haulage costs. Furthermore, network design is a continuous process along with development, production, and maintenance throughout mine life. Under the constraints of the turning radius, the gradient, and the obstacle avoidance for haulage network of underground mines, this paper first demonstrates network design and optimization approaches using Dubins path combined with the Hierarchical Density-Based Spatial Clustering of Applications with Noise (HDBSCAN) algorithm. A threshold-based model is developed, providing viable solutions to the network design when the number of declines is high. Furthermore, a three-dimensional Rapid-exploring Random Tree (RRT) algorithm combined with Dubins path is employed as a heuristic solver for obstacle avoidance purposes in the network. Various case studies are conducted to show the applicability of the proposed methods.

May 24, 2023

By Bernd Friedrich, Elif Emil‑Kaya, Merve Papakci

In the production of SmCo permanent magnets with excellent temperature stability, corrosion resistance, and oxidation resistance, samarium (Sm), one of the rare earth elements (REEs), and cobalt (Co) are employed. Cobalt (Co) is a crucial component in tool materials, nickel-based alloys, tablet and smartphone batteries, and electric car batteries. REEs and Co have been listed as critical raw materials by the European Union Commission for many years. Due to the ever-growing demand for Co and REEs in technological applications, the recovery of these elements from secondary sources has garnered significant interest. There are two types of SmCo magnets, one of which contains a high amount of iron, approximately 15.2%. This paper focuses on the recycling of Fe-bearing SmCo. In this study, an oxidative leaching process with nitric acid was developed to eliminate iron through in situ hydrolysis and to dissolve REEs and Co. The influence of experimental conditions on the formation of an amorphous iron compound through the hydrolysis of Fe3+ in a nitric acid environment was thoroughly examined based on a Taguchi orthogonal array. The optimal parameters for oxidative leaching were determined to be an acid concentration of 3 mol/L, a solid-to-liquid ratio of 1/10, and a process temperature of 60 °C.

Feb 15, 2024

By Andrea Koschinsky, Peter E. Halbach, Margret Halbach, Andreas Jahn

"Ferromanganese crusts contain hydrous Mn and Fe oxides as main metal compounds together with some economically interesting minor elements such as Co, Ni, Ti and Cu and trace metals such as Mo, W, Nb, Te, Ga, Pt, and REEs. Some of these metals or semimetals have a great future potential as innovative high-technology constituents. All of them are highly enriched in the crusts compared to seawater composition.The Mn in the crusts mainly originates from the O2 - minimum zone in the oceanic water column. The agent for Mn2+ oxidation is dissolved oxygen, transported upwards from colder deep water layers by turbulent eddy diffusion. The Mn itself descends from surface waters and is carried down to the O2-minimum zone by fecal pellet transport. In contrast, Fe is mainly supplied from carbonate dissolution of planktonic skeletons in the water column. These relationships result in the fact that the oceanic water depth strongly controls the metal composition of ferromanganese crusts: the Mn - group metals are more enriched in shallower water, whereas the concentration of the Fe - group metals increase with water depth. The REEs play a very important role with regard to the trace metal composition of the crusts: their concentrations increase with water depth mainly controlled by a decreasing Mn/Fe ratio.In seawater, REEs occur as carbonate complexes; preferably, the light rare earth elements (LREEs) form REECO3 +(aq) and the heavy Rare Earth Elements (HREEs) REE(CO3)2 (aq) complexes. The REEs are transition metals, their 6s orbital of the outermost shell is filled before the filling of lower 4f electron shells is completed, thus the configuration of the valence electrons is similar in all the REEs, and all REEs exhibit similar chemical behavior and exist, dominantly, as 3+ cations. The ionic radius decreases progressively from La3+ (1.18 Å) to Lu3+ (0.97 Å), this phenomenon is called "lanthanide contraction". Due to the fact that REEs in seawater form cationic and anionic carbonate complexes, the two main hydrogenetic constituents, hydrous !-MnO2 and Fe-oxyhydroxide, fractionate the group of REEs by surface absorption processes. According to the pHZPC-concept the ?- MnO2 phase has an electronegative surface, and Fe-oxyhydroxide a slightly positive surface charge at seawater pH. These relationships are the main reason for the observed REEs fractionation."

Sep 1, 2014

By P. L. Crouse, S. J. Lubbe, M. J. Kabangu

A selective extraction and separation of zirconium by solvent extraction with 1-octanol is proposed. The process is based on the dissolution of the metal basic carbonates in hydrochloric acid in the presence of potassium fluoride, using 1-octanol as extractant. The effect of several process parameters, including hydrochloric acid and potassium fluoride concentrations, reaction time, and phase ratio between the aqueous and the organic phase was investigated. Zirconium is enriched in the organic phase. The best extraction and separation results were obtained with the basic carbonate dissolved in 10% hydrochloric acid and 1.5 M potassium fluoride. The optimum reaction time was 15 min with an organic to aqueous phase ratio of 2:1. Based on the selectivity of zirconium over hafnium in the organic phase, a McCabe-Thiele diagram was constructed. A near complete stripping of zirconium from the organic phase was achieved using a 3 M sulphuric acid solution. Additional studies are required in order to determine the reaction mechanism and the chemical speciation of the current investigation.

By Zhenzhong Bian, Ruiyang Zhang, Xiaofeng Zhong, Zhangxuan Ning, Yuanping Zhang, Jie Lu, Airan Zhang

This study addressed the separation and recovery of vanadium(IV), iron, and titanium from synthetic and real leach solutions of vanadium-bearing titanomagnetite using extractant P204 (di-(2-ethylhexyl) phosphate) and P507 (2-ethylhexyl hydrogen- 2-ethylhexyl phosphonate). Based on the speciation analysis of vanadium in sulfuric acid medium, the single-stage extraction efficiency of vanadium, iron, and titanium was 94.21%, 3.45%, and 5.32%, respectively, under the optimal extraction condition of P204-P507 concentration of 15% (v/v), P204 to P507 ratio of 3:1 (v/v), TBP (Tributyl phosphate) concentration of 5%, sulfonated kerosene concentration of 80%, initial pH of 1.8, contact time of 8 min, and phase ratio (O/A) of 2:1. By confirming the predictions of the McCabe-Thiele diagram, a five-stage countercurrent extraction was carried out and the desirable extraction efficiency for vanadium reached 98.13%. The maximum co-extraction coefficient and distribution ratio of vanadium were 2.58 and 26.23, respectively. The stripping efficiencies and concentrations of a vanadium-rich solution by three stages of countercurrent experiments with 20 vol.% sulfuric acid reached 99.14% and 0.58 g/L, respectively, while almost all of the titanium remained in the organic phase. The mechanism of synergistic extraction between hydrogen ions of P–O–H and VO2+ in acidic conditions was confirmed by ATR-FTIR spectroscopy and molecular structure derivation. Besides, the separated impurity ions ( Fe2+) after oxidation, precipitation, and roasting process form a qualified iron oxide pigment with a total iron content of 97.2%.

Apr 25, 2023

By Jacek Paraszczak

Numerous problems encountered in the mining of narrow vein deposits challenge the productivity, competitiveness and profitability of many mines. Mechanization of mining operations is one of the most important means to ensure the healthy survival of this mining sector. Vein deposits account for nearly all the world's primary silver production, as well as a significant portion of gold, tin, copper lead and zinc. In North America, narrow vein mining constitutes an important sector of the industry. Operators exploiting such deposits are concerned with the most appropriate mining method and equipment to mine in such a way as to minimize waste rock dilution. Unfortunately, most of the equipment available does not meet the additional geological and economical restrictions typical of narrow vein mining. Thus, mining these deposits is labor intensive and can result in low productivity. Consequently, the profitability of many such mines is reduced. Increased mechanization is one of the solutions to ensure their healthy survival. This paper reviews the state-of-the art in mining equipment with reference to narrow vein mining limitations. Problems encountered Geological conditions and economical factors have a decisive impact on the choice of mining method and equipment. Many ore bodies are relatively small, usually erratically distributed, often less than 2 m (6.5 ft) wide, with dips ranging from 0° to 90°. To make things worse, ore body limits are sometimes difficult to determine and the ground is hard and abrasive.

Jan 1, 1992

By Peter Kreisman

This paper and four other papers on the MEQB Regional Copper-Nickel Study, presented today at the 1980 SME-AIME Fall Meeting are based on four years of extensive inter-disciplinary research and impact analysis supported largely by the Legislative Commission on Minnesota Resources. This study produced over 180 technical reports, the results of which are summarized in an Executive Summary available from the Minnesota State Planning Agency, St. Paul, Minnesota. Those wishing to examine the many scientific, engineering, environmental, social or economic issues addressed by the study are encouraged to obtain a copy of the executive summary. The executive summary includes a bibliography of all technical reports produced by the Regional Copper-Nickel Study and describes the five-volume, 26 chapter Regional Copper-Nickel Study Report.

Jan 1, 1980

By R. W. Fedors, S. T. Green, R. A. Hart, D. B. Walter

Computational fluid dynamic (CFD) modeling of a potential nuclear waste repository drift may be an important tool to estimate moisture redistribution caused by natural convection within the drift. To refine and support CFD techniques, a small laboratory cold-trap experiment was developed. Results from numerical modeling of the laboratory experiment show the sensitivity of the bulk air flow rate and average air temperature within the drift to several key parameters, including various boundary condition assumptions and surrounding porous media properties.

Jan 1, 2004

By Tuncel M. Yegulalp, Anuta Belova

This paper expands on the ZECA (Zero Emission Coal Alliance) technology, which is aimed at making coal a sustainable source of clean energy in the near future. The technology proposed immediate capture of carbon dioxide and other pollutants upon generation, thus alleviating their negative effects in the Earth’s atmosphere. ZECA proposes using chemical energy of coal to produce hydrogen; the latter is then used to produce electricity via fuel cells or Hyrogen-Oxygen turbines. In this study, a chemical engineering package, AspenPlus 12.1, is used to simulate the reactor (reformer) in which hydrogen is produced from methane water and lime as part of the zero emission power plant. Thermodynamic conditions, pressure and temperature, are optimized with respect to molar hydrogen production. Under the proposed conditions, molar conversion efficiency, carbon to hydrogen, of 95% is achieved. Further studies are required to model the complete power plant and to optimize it for efficiency.

Jan 1, 2005

By Adriaan de Villiers

Many conventional structural analysis and design methods in current use are not appropriate for the mining industry. Two major reasons for this are that: • The economic life of a particular mine is limited, and • Much of the equipment and machinery used by the mining industry operates at relatively low speeds. Both of these factors can have significant cost implications if they are not properly accounted for during plant design. In particular, the often used practice of mitigating excessive vibration by adding mass to machinery supports is not only expensive but may worsen the vibration effects. Some of these problems, such as increased wear and tear, are not always easy to trace back to inappropriate design. This article focuses on vibration related issues and demonstrates that the mining sector has unique problems requiring unique solutions. Vibration: the basics Historic developments leading to current vibration design practices provide the key to why such practices are often inappropriate for the mining industry. To understand this, it is necessary to introduce some basic vibration theory. Consider a simply supported beam or foundation on which a vibrating machine is mounted. For analysis of the system's dynamic response, it may be viewed as a mass attached to a spring and a damper, such as the shock absorber of a car.

Jan 1, 1992

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