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The history of mining is rightly proud of its achievements in improving productivity and cost improvements over the years. No matter what measure is used, tonnes per manhour, cost per tonne, etc vast improvements have been made over the last hundred years. In fact over the last ten years in Australian coal mines raw coal output per employee has increased by 60 per cent. When one examines why these improvements have taken place the principal reasons have been technological advancement in mining equipment, excavator and dump truck capacity increases, longwall and continuous miners continually improving in reliability and size. Of course all these improvements are correlated to an increase in capital cost. Even with the above-mentioned advances the pressure for increased performance is as strong as ever. The international mining and mineral-processing sector is currently operating in a recessive market with some traditional commodities, eg gold trading at 20 year lows. During recessive times senior management will demand greater returns on capital employed: the obvious choices being reducing costs or increasing throughput. In addition, head office environments will often place a capital freeze on operational management so the opportunity to take advantage of technological change is not available. The challenge is, therefore, to increase throughput and cut costs without the need for capital. The answer is to optimise the existing labour and plant. If done systematically a result in productivity improvement, in our experience, as high as 45 per cent can be achieved with the average across South East Asia and Australasia being 21 - 23 per cent. The intention of this paper is to present a systematic approach to labour and machine utilisation thereby gaining the greatest possible return on the existing capital base.

Jan 1, 1999

Gold rush histories are usually written as though they were unique events in the development of a region or nation. While this is a valid way of looking at gold rushes, it is not the only way. This paper is a brief attempt to relate the West Coast rushes to a wider context. During the second half of the nineteenth century the lure of gold transformed the Pacific Rim. Gold rushes drew more than half a million Europeans and Americans to lands bordering the Pacific. By 1900 a chain of mining, industrial and urban centres ran from California to Alaska; from Ballarat to New Guinea, and on to Western Australia. The New Zealand rushes were a significant chapter in this story. People, cargo and information passed from rush to rush. Techniques learned on earlier goldfields were imported; those developed in New Zealand were, in turn, taken up elsewhere. Administrative systems and regulations developed in Australia were implemented in New Zealand, improved and passed on to Canada. This interconnectedness was so strong that gold-seekers thought of the mining regions as a distinct culture, 'the whole digging world'. Much can be made of the similarities shared by rushes. But comparison can also highlight the individuality of each rush. +The early days of the West Coast rushes were perhaps the strongest assertion of a diggers' culture. A brief period in which a remarkable orderliness was created through mateship, self-regulation, and the occasional threat of rough justice. The West Coast rushes were both a unique experience and an integral part of a process which transformed the Pacific Rim during the nineteenth century. Understanding their part in that bigger story highlights just how unique they were.

Jan 1, 1996

By I M. van Waveren, F Hasibuan, M J. Crow

"An EXTENDED ABSTRACT is available for download. A full-length paper was not prepared for this presentation. Two Hg-Au occurrences west of Bangko, Sumatra occur within the West Sumatra Permian Volcanic Plutonic Arc. The Melipun Hg-Au occurrence was exploited in the past and mineralisation occurs within a hydrothermally altered cupola of a buried intrusion. The Salak Hg-Au occurrence occurs within the outcrop of the Dusunbaru pluton, likely within the remnants of a caldera in which hydrothermal mineralisation was developed. Both occurrences formed late in the history of the volcanic arc, probably between the Triassic and early Jurassic. The Melipun occurrence may have potential at depth, but that at Salak is small and lies within the area of a proposed Geopark.CITATION:Crow, M J, van Waveren, I M and Hasibuan, F, 2015. Two Hg-Au occurrences in the west Sumatra Permian volcanic-plutonic arc west of Bangko in Sumatra, Indonesia , in Proceedings PACRIM 2015 Congress, pp 573–578 (The Australasian Institute of Mining and Metallurgy: Melbourne)."

Mar 18, 2015

By J T. Woodcock, G J. Sparrow

A sample of pyrrhotite flotation concentrate pulp assaying 15.3 g/t Au, which had been prepared from an old tailing dump, was treated to extract the gold. Examination of the concentrate with an SEM showed that exposed or free native gold, 5- 40 ¦m in diameter, was present but no locked gold was observed. Direct cyanidation of the concentrate to extract the gold showed that the flotation reagents present inhibited gold extraction. A range of pre-treatments was used to overcome these effects. Direct cyanidation for 48 h extracted only 26 per cent of the gold, indicating possible contamination of the gold in the concentrate with flotation reagents. Pre-treatment of the concentrate pulp by aeration for 24 h, or by 72 h aeration with an addition of 3.65 kg/t of sodium sulphite, gave little improvement in gold extraction by subsequent cyanidation. Pre-treatment by filtration, or by aeration with 12.5 L/t 100 volume hydrogen peroxide, followed by cyanidation for 48 h gave gold extractions in the range 67-77 per cent. Combining filtration and an aeration period with hydrogen peroxide addition raised the subsequent cyanidation extraction of gold to 88 per cent, giving a tailing assaying 1.5 g/t Au. Re-cyanidation of some of the dried tailings from the initial tests extracted most of the remaining gold giving a tailing assaying 0.5 g/t Au. This indicated that most of the gold was available for dissolution by cyanide. The poor dissolution of gold by cyanidation of the untreated concentrate was attributed to the presence of flotation reagents. It was shown by UV spectrometry that xanthate-containing compounds were present in the solids fraction of the original pulp and that they were partly removed by pre-treatment. MIBC was also present, and dithiophosphate, which was used in the flotation step, was also probably present. The results indicated that the improvement in gold extraction after filtration and oxidation of the original pulp was due to partial removal of the flotation reagents, and illustrates the detrimental effects that residual flotation reagents can have on the extraction of gold by cyanidation of a flotation concentration.

Jan 1, 1990

By S Piercey, M Doublier, B Eglington, D L. Huston, S Pehrsson

"An EXTENDED ABSTRACT is available for download. A full-length paper was not prepared for this presentation. The distribution of volcanic-hosted massive sulfide deposits through time is episodic, involving relatively short time intervals of apparent high productivity and long intervals of low productivity. This distribution is principally related to the geodynamic evolution of the Earth. The vast majority of these deposits is associated with the assembly of supercontinents and form along convergent margins, generally in back-arc basins or rifted arcs. This contrasts with the distribution of black smoker deposits, which presently form along both convergent margins, particularly in the western Pacific, and divergent margins at mid-ocean ridges. However, the latter environment is rarely preserved deep into the geological past.There also appear to be systematic patterns in a number of other features of volcanic-hosted massive deposits through time. Deposits hosted by mafic-dominated successions are dominant in Archean to Proterozoic rocks, whereas deposits hosted by felsic-dominated successions are most common in Phanerozoic rocks. Geochemical characteristics of felsic rocks within the host successions and ore lead and sulfur isotope data of the ores have also changed with time. This suggests changes in the process of subduction and/or changes in the characteristics of the over-riding plate with time, consistent with isotopic and geologic evidence for greater reworking of pre-existing crust during the Phanerozoic.Other secular changes that are reflected in characteristics of volcanic-hosted massive sulfide deposits include the redox state and salinity of coeval oceans. As an example, both the abundance of sulfate minerals and sulfur isotope patterns reflect the development of periods of anoxic conditions over time, with major intervals of anoxia reflected by a virtual lack or low abundance of sulfate minerals in volcanic-hosted massive sulfide deposits in the Mesoarchean to the Palaeoproterozoic, and shorter intervals since.CITATION:Huston, D L, Eglington, B, Pehrsson, S, Piercey, S and Doublier, M, 2015. Secular variations in the abundance and characteristics of volcanic-hosted massive sulfide deposits – implications for evolution of convergent tectonics and ocean geochemistry , in Proceedings PACRIM 2015 Congress, pp 475–480 (The Australasian Institute of Mining and Metallurgy: Melbourne)."

Mar 18, 2015

By J E. Lynch

The Weda Bay nickel and cobalt laterite deposits on Halmahera Island, Republic of Indonesia were first drilled in May 1996 by Strand Minerals Pte Ltd (Strand). Subsequent exploration has delineated four large laterite provinces, parts of which have been diamond drilled to outline an indicated nickel resource of 59.9 Mt of 1.51 per cent Ni and 0.09 per cent Co within a total indicated and inferred resource of 117 Mt of 1.36 per cent Ni and 0.12 per cent Co. The project is held as a Seventh Generation Contract of Work (COW) by PT Weda Bay Nickel, which is jointly owned by Strand (90 per cent) and PT Aneka Tambang (ten per cent). Strand is a wholly owned subsidiary of Weda Bay Minerals Inc, a company listed on the Toronto and Alberta Stock Exchanges in Canada. Halmahera is located in the north-eastern part of the Indonesian archipelago at the convergent junction of three major plates and is a region of considerable tectonic and geological complexity. The western arms of Halmahera form a classic volcanic island arc while the central region and eastern arms contain ophiolite complexes and interlayered sediments. The extensive areas of laterite discovered at Weda Bay have developed over serpentinised harzburgites and dunites of pre-Cretaceous age. Weathering of these rocks has produced laterite profiles that are enriched in nickel and cobalt. There are three economically mineralised laterite types, namely limonites, ferruginous saprolites and saprolites and all are amenable to rapid pressure acid leaching with recoveries of 98 per cent nickel and 94 per cent cobalt in less than 20 minutes.

Jan 1, 1999

The mining industry continues to be a major driver of the Australian economy generating over A$130 billion in export earnings in 2008/2009. However, the industry has been cited as a significant contributor to green house gas emissions. Australia's proposed carbon trading scheme, the Carbon Pollution Reduction Scheme (CPRS) will financially impact on mining operations; this calls for a holistic planning approach for mining operations taking into account the impact of the emissions trading scheme. Since carbon trading is a new area of study, particularly within Australia, the quantitative effect of the CPRS on the mining industry is uncertain and current mine planning practices do not directly consider emissions. This paper presents results of the study into the impact of the CPRS on a hypothetical large scale open pit operation, using a spreadsheet model based on linear programming and simulation. By varying the production rates, life of mine (LOM), carbon price and ore grades among other variables several scenarios were simulated to determine the impact of emissions trading scheme on the net present value of the project. This study found that the adoption of the proposed Carbon Pollution Reduction Scheme could impact mining operations in Australia by a three per cent to six per cent reduction in net present value, for carbon credit costs of $25/t to $50/t respectively. While the six per cent reduction in net present value for a mining operation is significant, rising fuel prices have had a similar effect in recent years. The most energy-intensive processes are the milling circuit and the flotation concentrator circuit. These processes are jointly responsible for up to 60 per cent of the total emissions, depending on the production rate and the level of offshore processing conducted. Clearly, the introduction of the CPRS makes it is imperative for mining companies to assess the impact of carbon emissions on a mining project during mine planning.

Dec 6, 2010

By M A. Knackstedt

Coupling between deformation processes and rock permeability is a major factor influencing the architecture of fluid migration and the localisation of ore deposition in several types of hydrothermal ore systems in middle to upper crustal regimes. Permeability in many hydrothermal systems is controlled by a dynamic competition between deformation-induced porosity-creation processes and porosity-destruction processes. Localisation of deformation within faults, fractures and shear zones leads to flow localisation, with large-scale flow systems forming when active faults and shear zones link to create percolation networks. Numerical modelling techniques are used to explore the growth of fracture networks and evolution of network connectivity during progressive deformation. Initial results indicate that networks reach a percolation threshold at very low strains. Near the percolation threshold, flow is localised along a small proportion of the total fracture population and favours localised ore deposition. At higher strains, flow is distributed more widely throughout the fracture population and may provide reduced potential for production of high-grade deposits. The distribution of mesothermal gold deposits along a small subset of the total population of co-active faults and shear zones in the Archaean Yilgarn Craton in Western Australia indicates that some hydrothermal systems maintain themselves near the percolation threshold for a substantial part of the lifetime of the system. Fluid-driven growth of fault/fracture/shear networks may lead them to self-organise near the percolation threshold.

Jan 1, 1999

By K Gordon, A Black

Two remediation strategies have been considered to reduce the levels of acidity and dissolved metals in acid mine drainage discharging from Sullivan Mine, West Coast, New Zealand. The oxidising strategy involves adding alkalinity and dissolved oxygen (DO) resulting in the precipitation of metallic oxides and decreased acidity. The reducing strategy involves removing DO, resulting in the precipitation of metallic sulfides, followed by addition of alkalinity to decrease acidity. Field remediation trials indicate a reducing system may be more effective for this site than an oxidising system. A residence time of only two hours in the limestone layer of a successive alkalinity producing system (SAPS) is sufficient to reduce acidity by 100 per cent, iron by 71 per cent, aluminium by 59 per cent, nickel by 38 per cent and manganese by 26 per cent. The proposed remediation plan will likely include a series of SAPS, followed by an anoxic limestone drain, and settling ponds to capture any remaining precipitates.

Jan 1, 2003

By G Q. Xie, J W. Mao, Y B Cheng

"An EXTENDED ABSTRACT is available for download. A full-length paper was not prepared for this presentation. The East China Mesozoic metallogenic province hosts the world’s largest resources of tungsten, tin, molybdenum, antimony and bismuth, with additional important gold, silver, mercury, lead, zinc, copper, uranium and iron deposits. These deposits form several giant metallogenic belts, including South China, Middle-Lower Yangtze River Valley, East Qinling-Dabie, eastern North China Craton and North-east China. Available data demonstrate that these metallogeneic belts are the products of episodic magmatic and related hydrothermal events between ~240 and ~80 Ma. Each magmatic-hydrothermal episode has produced distinct deposit assemblages that can be readily linked to the Mesozoic geodynamic evolution of East China, involving continental collision between the North China Craton and South China Block at 220–200 Ma, oblique subduction of the Izanagi plate under the Eurasian continent at ca 170–135 Ma and post-subduction extension and lithospheric delamination at 130–80 Ma. Metallogeny in north-eastern China is more complicated due to prolonged tectonic evolution related to southward subduction of the Mongolian–Okhotsk plate and westward oblique subduction of the Izanagi plate, and subsequent continental collision and post-collisional processes.CITATION:Mao, J W, Xie, G Q and Cheng, Y B, 2015. Mesozoic metallogeny in east China and their geodynamic processes , in Proceedings PACRIM 2015 Congress, pp 631–636 (The Australasian Institute of Mining and Metallurgy: Melbourne)."

Mar 18, 2015

By G Sparrow

The Murray Basin is being heralded as the next major mineral sands province in Australia. Already exploration programs have delineated extensive commercial deposits and several companies are progressing with plans to produce zircon, rutile and ilmenite in the Basin. As these deposits are developed consideration will need to be given to several key issues of the Murray Darling Basin; the availability of fresh water and management of salinity in the area being two of them. In this paper ideas being developed in CSIRO that link the processing of mineral sands with the salinity problem in the Basin are presented. The proposal presented here is to process saline water to produce industrial minerals with large volume applications and to produce value-added products from the mineral sands in the Basin using reagents produced from the saline waters. Processes to produce titania pigment and zirconia consume chlorine, caustic soda, soda ash and hydrochloric acid, all derivatives of salt (sodium chloride). There may be a good economic incentive if these processing plants were located in the close vicinity of each other.

Jan 1, 2001

By R Aseervatham

The fast tracked mine development strategy attempts to blend feasibility studies and engineering/commissioning functions into a streamlined process. In this compressed process, environmental issues are difficult to control with respect to the optimisation of operational environmental performance. This paper presents a standard mine development process with specific focus on environmental issues, and contrasts this against Rio TintoÆs recent fast track experiences on the Hail Creek project (Australia), the Baranj project (India) and the Gokwe North project (Zimbabwe).

Jan 1, 1999

By E Hawkins, S Sheldon

Block caving is becoming a more widely adopted mining method allowing for underground massive low grade orebodies to be extracted economically. Underbreak during cave propagation is difficult to predict in terms of recovery and is not well-researched due to the small number of caving operations. During mining of E26 Lift 2 (E26L2) block cave at CMOC Northparkes Mines, a wedge of high grade material failed to cave, even with the assistance of preconditioning and subsequent attempts to induce caving. The ultimate solution for recovery of the uncaved wedge was the establishment of the E26 sublevel cave (SLC), which commenced mining in 2015, with production following in 2016. The SLC provides approximately 1Mtpa to supplement the lowering grade of the current E48 block cave feed. Applying the sublevel caving methodology to recover block cave underbreak has proven challenging. The impact of the caving stresses and preconditioning of the wedge have caused production limitations requiring continual remediation throughout production of the E26 SLC. The dependence on remediation work created a roadblock to implementing precharging as the prevalence of brow loss raised concerns over the inability to hook up the charged ring. In 2018, a wireless initiation trial was completed in the E26 SLC over 24 rings. The trial showed that precharging was achievable in this environment and greatly improved the safety of charge up personnel.

Mar 15, 2021

The spatial and temporal evolution from the porphyry to high-sulphidation epithermal environment can be assessed by integrating new results on such deposits (Arribas et al, 1995; Hedenquist et al, 1998) with past studies of plutonic and porphyry systems (Dilles and Proffett, 1995; Cline, 1995; Shinohara and Hedenquist, 1997; Hedenquist and Richards, 1998). Some time ago, Sillitoe (1973) argued for the nature of the tops and bottoms of porphyry deposits. He concluded that epithermal deposits may form over the tops of some porphyry systems. We can now conclude more confidently what the tops and bottoms of many high-sulphidation ore deposits appeared like while active (Arribas, 1995; Hedenquist, 1995). In addition, we better understand the nature of the zonation of high-sulphidation epithermal systems from the intrusive to surficial environment (Sillitoe, 1999), and how these two styles of ore deposit are related. Geological and geochemical evidence clearly indicates a continuum between these two ore environments. This improved understanding of genesis allows more efficient exploration for these deposits. There are many examples of spatially associated porphyry and epithermal ore deposits. A genetic connection has been suggested by some, and argued against by others. Nowhere is this spatial association better seen than in northern Luzon, Philippines, where the Lepanto high-sulphidation epithermal Cu-Au deposit overlies the Far Southeast (FSE) porphyry Cu-Au resource (Figure 1). Together these mineralised bodies contain a resource of >3.8 M tonnes Cu and >550 tonnes Au. Lepanto was largely mined out in early-1997. Post-war production until 1995 was 0.73 Mt Cu, 115 t Au and 393 t Ag at an average grade of 2.2 per cent Cu, 3.5 g/t Au and 11 g/t Ag. The recent discovery of the adjacent Victoria low-sulphidation quartz-Au-base metal vein deposit, with a resource of >68 tonnes Au (Cuison et al, 1998), illustrates the variety and abundance of mineralisation in the Mankayan district. This district also hosts the Guinaoang porphyry Cu-Au deposit (Sillitoe and Angeles, 1985) and other epithermal vein occurrences (Figure 1). This brief summary reviews the results recently published on the Lepanto-FSE deposits (Arribas et al, 1995; Mancano and Campbell, 1995; Claveria, 1998; Hedenquist et al, 1998), and stresses the evidence for coupling of mineralisation between the porphyry and high-sulphidation epithermal environments.

Jan 1, 1999

Goldfields (Tasmania) Limited operates a small, high-grade underground gold mine on the West Coast of Tasmania, 30 kilometres north of Queenstown. The main orebody, Zone 96, was discovered in 1989, with major development work commencing in 1993. The mine was officially opened in July, 1996. Initial production came from a shallow orebody known as the Sill Zone, some 50 - 150 m below surface, which was accessed by a 1 in 8 decline. Zone 96 lies between 350 m and 550 m below the surface and is accessed by a 402 m deep, 3.2 m diameter internal shaft from the collar level located 100 m below surface. The main ore extraction system in Zone 96 is mechanised cut and fill, using high density paste fill. Run of mine ore and waste are hoisted in a single 5.5 tonne overturning skip, then trucked from the underground collar to the gold plant ROM pad or waste dump, respectively. Ground conditions in the mine vary with orientation and proximity to major faults. The gold is contained in a sequence of strongly altered volcanic rocks adjacent to the Henty Fault. Most of the gold is contained in massive quartz, ranging in width from 0.5 m to 7 m, which has been subjected to substantial faulting. Average mineable grade is about 27 grams gold per tonne. Ore reserves in 1996 proved an initial mine life of approximately 4.5 years at 90 000 ounces gold per annum, with significant potential for additional resources from extensions to Zone 96 and adjacent zones. The lease is located in an environmentally sensitive area and a very high standard of environmental management is an essential part of the operation. This paper describes the relevant aspects of mining at Henty including grade control, ground support, backfill placement and environmental management.

Jan 1, 1998

By D Brouwer, P Wild, B Belle

Due to the steep geo-thermal gradient in Bowen Basin area, as underground coalmines reach increased depths of extraction, the Bulk Air Cooling (BAC) requirements will increase as opposed to cooling the workplace using the ventilation means alone. One such mine has already been using a 4 MW surface BAC plant for the last six years to manage the working temperatures with reduced cooling efficiency as the mine expands. Due to the horizontal nature of the longwall mine layout, distances from the working face to intake shafts are rapidly expanding to over 6 km as opposed to the vertical mine layout of a hard rock mine. To improve the positional cooling efficiency, reduced panel pressure differentials, improved rib emission gas management, and intake dust management, small diameter intake shafts were located on the inbye end of production panels and halfway up the development panels with localised mobile small BAC plants. This paper summarises the results of extensive underground data of this innovative cooling concept for development and retreating longwall face heat management compared to a larger remote BAC plant.CITATION:Belle, B, Brouwer, D and Wild, P, 2017. The use of mid-panel ventilation shafts to improve positional cooling efficiency in a Bowen Basin longwall mine – a case study, in Proceedings Australian Mine Vent Conference 2017, pp 217–224 (The Australasian Institute of Mining and Metallurgy: Melbourne).

Aug 28, 2017

By H Han, L Lu

Due to the international depletion of reserves of traditional high-grade iron ore, the ore resources available throughout the world, especially in steel mills in East Asia, have changed drastically from hard hematitic to more goethitic ore types, such as pisolitic and Marra Mamba ores. The level of impurities and loss on ignition in iron ore has also been slowly increasing. Finally, the proportion of fine material in the available products has increased considerably for most iron ore fines. This has been found to have significant impacts on sinter quality and sintering performance. Magnetite concentrate is typically high in Fe grade and releases extra heat when oxidised to hematite. The amount of magnetite concentrates is expected to increase due to the recent development of a number of magnetite projects. Some of these magnetite concentrates will end in sinter blends. This will not only improve the sinter quality and but also have a beneficial impact on the fuel consumption of the sintering process. However, most of the concentrates available are very fine, which will negatively impact the green bed permeability and consequently the productivity of the sintering process. This paper reviews and comments on the recent technological advances in sintering with high proportions of magnetite concentrates.CITATION:Han, H and Lu, L, 2017. Sintering technologies of sinter mixtures containing high proportions of magnetite concentrates, in Proceedings Iron Ore 2017, pp 31–38 (The Australasian Institute of Mining and Metallurgy: Melbourne).

Jul 24, 2017

By J-S Han, J-M Yao

"An EXTENDED ABSTRACT is available for download. A full-length paper was not prepared for this presentation. The Shagou deposit is located along NE-trending faults within the high-grade metamorphic basement of the Xiong’er Terrane in the Qinling orogenic belt. It is a large Ag-Pb-Zn deposit hosted in the Taihua Supergroup and has proven reserves of 1.54 Mt of ore with grades of 767 g/t Ag, 13.24 per cent Pb and 4.31 per cent Zn. The hydrothermal ore-forming process can be divided into early quartz-pyrite, middle quartz-polymetallic sulfides and late quartz-carbonate stages. Four types of fluid inclusions (ie pure carbonic, carbonic, pure aqueous and aqueous) can be distinguished in quartz. Fluid inclusion, hydrogen, oxygen and sulfur isotope systematics indicate that the ore-forming fluids are initially deeply sourced metamorphic water with meteoric water gradually mixed in the later stages. Sulfur isotope data show that the ore-forming fluids originated from both the Taihua Supergroup and the sedimentary successions of the Guandaokou and Luanchuan Groups (CSC) located to the south of the Machaoying Fault. A genetic model of the Shagou deposit is proposed as follows: CSC subducted northward along the Machaoying Fault beneath the Xiong’er Terrane during the Mesozoic collision between the North China Craton and South China Block. Subsequent dehydration resulted in the devolatilisation of fluids rich in CO2. These fluids migrated upwards, reacted with the Taihua Supergroup and formed the Shagou deposit.CITATION:Han, J-S, Yao, J-M and Chen, H, 2015. Fluid inclusion and isotopic constraints on the mineralisation of the Shagou Ag-Pb-Zn deposit, Henan Province, China , in Proceedings PACRIM 2015 Congress, pp 615–618 (The Australasian Institute of Mining and Metallurgy: Melbourne)."

Mar 18, 2015

Authors have been conducting research on autonomous loading operation by wheel loader. Autonomous loading cycles has been demonstrated with real size experimental model. In V shape loading operation, travelling between scooping point and dumping point is dominant factor for cycle time of the operation. The positions of scooping point and dumping point changes with advancing the operation. In the developed system, path planning is performed at the beginning of every cycle. The path is formed by combination of curve and straight path elements. During travelling on the planned path, path following control is applied on the loader to keep position error in narrow range. Positioning of the loader is based on dead reckoning with correction by global positioning system (GPS) data. In a process of path following control, control value for steering angle is determined based on position error in lateral direction. Proposed method of path planning and position control is installed and tested in the real size experimental model. The detail and results will be described in the paper.

Dec 6, 2010

Grade control is a real challenge, and better sampling and modelling practices are among the tools that have proven efficient in improving it. Although based on rather trivial examples, this paper addresses the following important issues: How much of a challenge is it? How and to which degree can it be improved? And what kind of economic benefits should be expected in return for the corresponding efforts?

Jan 1, 1999