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By B. Haugrud, E. McConaghy, M. Collins, G. Smith

"Laterite ore processed by the Ambatovy Joint Venture in Madagascar is primarily limonitic in nature, containing about 40 to 45 wt.% Fe and 1.1 wt.% Ni. The process selected for treatment of this ore considered the behavior and deportment of iron in each step of the commercial flowsheet. Such considerations included nickel and cobalt recoveries, reagent consumptions, liquid-solid separation characteristics, and both intermediate and final product purities. In this paper, the results for the first three years of commercial operation at Ambatovy are compared with the design parameters, with emphasis on the behavior of iron.INTRODUCTION The main component of nickeliferous laterite ore is iron, and the Ambatovy deposit in Madagascar is no exception. The Ambatovy ore is primarily limonitic in nature, containing about 40 to 45 wt.% Fe and 1.1 wt.% Ni. Since the nickel content of the ore is roughly one fortieth that of iron, successful recovery of nickel depends on close control of the behavior of iron in the selected process. Exploration of the Ambatovy area, which is located to the east of Antananarivo, the capital of Madagascar, dates back to 1960, when the Malagasy Service Géologique carried out a limited pitting and auger-drilling program. Phelps Dodge Corporation (now Freeport-McMoRan Copper & Gold, Inc.) was granted the mining rights to the property in 1995 and carried out significant resource definition, environmental assessment and engineering studies between 1995 and 2001 (Chou, Rooke, Williams, & Hanks, 2000). In 2003, Dynatec Corporation, which was formed in 1997 by the merger of Dynatec International Ltd. and Sherritt International Consultants Inc., signed a joint venture agreement with subsidiaries of Phelps Dodge to evaluate the Ambatovy Nickel Project. Dynatec then became extensively involved in the development of the project, including process selection and pilot plant testing in Fort Saskatchewan (Collins et al., 2004, 2005, 2009; Collins & Vardill, 2005). Dynatec acquired 100% of the project in 2005 and a joint venture between Dynatec, Sumitomo Corporation, Korea Resources Corporation (KORES), and SNC-Lavalin Inc. (SLI) was formed shortly thereafter to provide funding for further development. SLI was responsible for engineering, procurement and construction management of the commercial facilities. Sherritt International Corporation reacquired Dynatec Corporation, including 40% ownership in the Ambatovy Nickel Project, in 2007. The current Ambatovy Joint Venture consists of an integrated nickel and cobalt mining, processing, refining and marketing enterprise between subsidiaries of Sherritt (40% owner and mine and plant operator), Sumitomo Corporation (32.5% owner) and KORES (27.5% owner)."

Jan 1, 2016

By John Russell

"The South American mining community leads the world in recognition and adoption of the latest grinding mill relining technologies. Clearly this region has recognised the benefits of improved relining performance.Six of the seven RUSSELL TWIN 8 Mill Relining Systems, ordered to date, are either operating or being manufactured for South American mine sites.This paradigm shift, towards very short relining times, aims at displacing mill relining activities from the critical path of concentrator maintenance shutdown schedules.The first uses of the RUSSELL TWIN 8 Mill Relining System have seen some of the highest SAG mill new liner placement rates ever observed by RME, as would be expected with two, independent Machines working simultaneously in the one mill.The liner-replacement-rate, averaged over the whole reline, is good (27% improvement over single Machine System in the same mill) but short of full potential. This modest result can be attributed to reline crews unfamiliarity with RUSSELL TWIN 8 System operation.This paper compares a sample of conventional (single machine) RME Mill Relining System performance data with one ‘double head’ mill liner handler by others. Early performance of Escondida’s new RUSSELL TWIN 8 System performance is then compared with recent single Machine data from Escondida, immediately prior to RUSSELL TWIN 8 commissioning. RME and Escondida look to constantly improving RUSSELL TWIN 8 System performance as full operational familiarity is achieved.Also, the preparation of this paper revealed a need to develop a global industry standard for mill relining data collection. A web based platform, to develop and then distribute standardised data collection templates, is discussed in Annexure 1."

Jan 1, 2010

By Matthew Violot

Introduction ?Located off highway 6, approximately 5 km, SW of Thompson, Manitoba ?Base metal mine: Nickel? Maximum Depth: 4100 ft ?Started Production in 1966 (INCO, 2006)?Halted in 1978?Re-opened in 1989 ?Two types of mining:?VBM (vertical block mining)?Cut and Fill 1.1 Problem ?Birchtree mine is experiencing failures and undesirable dilution in some of their stopes. ?Time can have a large effect on open stopestability. ?Birchtreeis interested in how time is affecting the stability of their stopes. ?The study focuses on the lower 84 complex, which extends from 2750 to 4100 foot level.

Nov 1, 2011

By S. Rajeswari, D. Gopi

"Pitting corrosion inhibition of 304 stainless steel (SS) in groundwater with a ternary inhibitor mixture (phosphonic acid + bivalent cation + various surfactants) was studied with different environmental variables such as temperature, pH, dissolved oxygen and chloride ions. Critical pitting potential and corrosion potential were calculated for these test media using electrochemical techniques. Under the tested condition, the localized corrosion resistance of 304 SS was determined and the results are discussed. IntroductionPitting corrosion of metals and alloys is a major cause of failure in chemical processing desalination plants, scrubber for flue gas desulphurization (FGD) plants, water storage tanks and pipelines, petroleum refineries, etc.Heat exchangers and condensers in inland thermal and nuclear powerplants utilize groundwater as a coolant, but materials of construction are generally prone to localized corrosion.Localized corrosion attack can be initiated when the passive film on the metal is disrupted. The presence of certain aggressive anions such as chlorides (Cl-) can migrate to the actively corroding area and stabilize pitting corrosion. Attention has been focussed on improving the resistance of stainless steel against localizedcorrosion in aqueous environments.One of the most accepted methods of avoiding corrosion is by the addition of chemicals (inhibitors). Over the past two decades, some phosphonic acids have been explored due to their good corrosion inhibition efficiency and low toxicity (Fang et al., 1993; Karman et al., 1998; Rajendran et al., 1998; Gopi and Rajeswari, 2000a). Bivalent cations like Zn2+ are often applied as additives to inhibit the metal dissolution (Sekine and Hirakawa, 1986; Aruna Bahadur, 1998)."

Jan 1, 2003

By R. Sharon, P. M. Hawley, X. Ochoa

"Development of Barrick Gold’s Pierina gold mine in north-central Peru requires construction of a waste dump for disposal of nonore grade materials stripped from the open pit to expose the ore. The waste dump site is located near the open pit in a U-shaped valley that is underlain by thin colluvial and morainal soils with locally thick peats and glaciolacustrine deposits. Bedrock underlying the site consists of variably weathered volcanics. The site is subject to moderately high seasonal rainfall and significant seismicity. The geotechnical quality of the waste rock is highly variable, ranging from low-quality, degradable, soil-like materials containing appreciable quantities of silt and clay, to high-quality, hard, durable, blocky waste rock.A hybrid dump design concept was developed that requires in-pit segregation of highand low-quality waste, and selective placement of materials in the dump to maximize stability and enhance internal and subsurface drainage. The design includes a rock drain beneath the dump along the axis of the valley and a series of connected finger drains. Extensive peripheral diversions and stormwater control measures to inhibit infiltration of precipitation are also included.This paper discusses the unique challenges presented by the site and waste materials, the design methodology and stability analyses, and planned monitoring systems."

Jan 1, 2003

By Pavel Vasak

Microseismic monitoring has become standard practice in the mining industry as a ground control monitoring tool at depth. Translating the information into practical hazard assessment tools for the rock mechanics practitioner is the focus of research jointly conducted at Creighton Mine by INCO Mines Technology Centre (MTC) and the Geomechanics Research Centre (GRC) in Sudbury, Ontario. Rock mass damage mechanisms are typically related to stress and the presence of geological structures. Due to well executed de-stress blasting practices at the mine, stress related problems are minimized. However, structurally related damage mechanisms associated with shear zones, faults and joints pose a substantial hazard. Identifying active structures from the dataset of seismic and microseismic events is generally problematic. We propose a new methodology that uses a combination of spacetime event density, hierarchical clustering and principal component analysis to identify planes of microseismic activity, termed active planes (APs). Once identified, the presence and intersection of active planes can be used to provide a hazard ranking for nearby excavations. The ranking is based on the standard Q rock mass classification system, with emphasis on the joint set number (Jn) and stress reduction factor (SRF) parameters. If the rock is treated as a fractured continuum, then, the Jn indicates the degree of freedom for blocks to move and hence, increased potential hazard. An increased hazard can also result if the APs are larger-scale and discrete (faults) rather than ubiquitous (joints). In this case the SRF is used as a measure of the degree of looseness in the rock mass.

May 1, 2004

By Ivan C. Machado

Jaguar Mining Inc. is implementing a 1.1 Mtpy, 7-year LOM gold project in the Iron Quadrangle (?Quadrilátero Ferrífero?), Brazil. Construction is on schedule and startup is programmed for Q2 2010. Mill feed grade averages 4.43 g/t and LOM gold production is estimated at 800,000 oz. The project entails two sulfide underground mines and three oxide/transition open pit mines. A state-of-the-art flotation/gravity concentration/CIP Plant has been designed based on testwork carried out by internationally recognized Canadian, U.S., and Brazilian laboratories. The mass recovery of the flotation section is only ca 10%, while its gold recovery is about 90%. Therefore, the CIP-ADR Plant will treat only 10% of the solids mass contained in the mill feed, while 90% will be fully cyanide-free material that will be partially used to feed a Backfill Plant. The leached tailings will be conveyed to a rather small tailings dam, whose 20- m3/h supernatant solution will be treated by a new electrolytic technology. The plant design contemplates a High Density Thickener for the cyanide-free rejects exceeding the backfill demand and a Regrinding Section before the Leaching Circuit. The estimated overall metallurgical recovery sits around 92%. This paper focus on the use of modern technologies to reduce costs, risks, and liabilities.

May 1, 2010

By Robert J. Mitchell

A general approach to mine backfill design, including laboratory testing procedures, is outlined in this paper. Relationships between certain design parameters are developed and the effect of other factors is discussed. It is concluded that the inclusion of backfill design calculations at an early stage of mine design can often produce over-all design economies. Not only are the data needed for backfill plant and tailings disposal area design, but also the pillar recovery method and over-all mine stability are dependent on the attainable fill properties.

Jan 1, 1979

By David Evans, David Barnes, Robert Raponi

"The Williams Mine processes, on average, 6,450 t/d of gold bearing ore using two parallel grinding circuits, leaching and C.1.P., carbon stripping, electrowinning and refining. At present, each grinding circuit consists of a SAG mill in closed circuit with a spiral classifier and a ball mill in closed circuit with two stages of cyclones.Since grinding has always constituted the largest portion of milling costs, the Williams Mine has been proactive in trying to reduce such costs through innovative changes. One project under consideration is the replacement of one spiral classifier by a vibrating screen.This paper discusses the testwork performed to evaluate the replacement of one spiral classifier by a vibrating screen, and the preliminary engineering performed to date.IntroductionThe Williams Mine, located in northwestern Ontario, approximately 40 kilometres east of Marathon, is part of the Hernia gold camp. The mine is operated by the Williams Operating Corporation and is owned by the Teck Corporation and Homestake Canada Incorporated. Operation of the mine started in October 1985 at a rate of 3,000 t/d. After a mill expansion in August 1988, throughput increased to 6,000 t/d. Production has increased steadily since the mill expansion and in 1995, an average of 6,450 t/d of ore was processed at a recovery of 95.1 %."

Jan 1, 1997

By Adam Wright

"Les Mines Selbaie have been producing copper and zinc concentrates from the A-1 ore zone since 1986. This paper reviews major developments in flotation practice over that period. Firstly, ore blending strategies for Selbaie's non-homogeneous polymetallic ore are discussed. The evolution of reagent use is then reviewed, focussing on copper collector trials. A description of Selbaie's flotation columns follows. Finally, past and future developments for process control are outlined.Depuis 1986, Les Mines Selbaie produisent du concentré de cuivre et de zinc provenant de la zone A-1. Cette conférence présente !es développements majeurs en flottation qui ont eu lieu depuis ce temps. Premièrement, la stratégie du mélange de minerai non homogène polymétallique est présentée. L'évolution des réactifs utilises est démontrée, particulièrement !es collecteurs de cuivre. Par la suite !es colonnes de flottation sont presénteés et finalement !es développements futurs ainsi que ceux qui ont eu lieu dans le contrille de procédé sont expliqués.1.0 INTRODUCTIONLes Mines Selbaie, wholly owned by Billiton Metals Canada Inc., is currently mining and processing ore from a polymetallic surface deposit located 288 km northwest of Val D'or, Quebec (fig. 1). The mine produces copper concentrates containing gold and silver as well as zinc concentrates containing silver. 8000 dmt/day of ore is crushed and ground to 80% passing 49 µm, prior to processing by conventional copper/zinc differential flotation. The flotation circuits consist of both conventional and column cells (fig. 2). Detailed descriptions of the mill are available elsewhere in the literature (8,9)."

Jan 1, 1995

By James A. Brown, Marius Botha, Christopher A. Fleming

"The technical and economic feasibility or re-processing hundreds of millions of tons of tailings in a number of historic gold tailings dams in the Witwatersrand area of South Africa is being investigated. The objective is to recover uranium and residual gold from the tailings, as well as to oxidize the sulphides to eliminate long term environmental liabilities associated with acid mine drainage. The tailings from the re-processing plant will be re-deposited in a new area far from urbanization, allowing for the rehabilitation of the real estate currently occupied by these historic tailings.The first step in the process involves a mild-regrind and mild acid leach of the tailings (pH 2.5 to 3.0) to dissolve up to 40% of the uranium. This uranium is recovered directly from the pulp by resin in pulp (RIP) with a strong base resin. The RIP tails are then treated by flotation to recover a rougher pyrite concentrate, and flotation tailings that are discarded. The rougher concentrate is cleaned to produce a final pyrite concentrate and cleaner scavenger tailings, and the pyrite concentrate is oxidized in an autoclave to leach uranium and generate acid. The autoclave discharge is combined with the cleaner scavenger tails, and the acid and ferric ions generated in the autoclave are used to leach more uranium and oxidize more sulphide in the cleaner tails. The product from the concentrate leach circuit is processed by resin in pulp for uranium recovery, followed by neutralization, cyanidation and carbon in pulp for gold recovery.The rougher float tails may be further treated to recover gold that was not recovered in flotation, but which had been liberated from the old dumps by natural oxidation of some of the pyrite over many decades. The float tails would be neutralized and treated by cyanidation and CIL to recover this liberated gold.All parts of the flowsheet have been extensively tested in the laboratory, and the critical elements of flotation, pressure oxidation and resin in pulp have been demonstrated in pilot plants. The results of the hydrometallurgical investigations are presented here."

Jan 1, 2010

By T. MacKinnon, M. C. Bétournay, D. Eastick, F. C. Delabbio, C. Graves

"The successful implementation of a new technology in an underground production mine requires many challenges to be overcome. These challenges include mine hardening of new technology, mitigation of safety risks and hazards, mine operation support, and technology transfer to mine staff. In the end, the majority of these challenges relate to the human aspects of implementation. The approach selected to overcome these challenges must be customized and appropriate for each unique situation.This paper outlines the approach used to address these challenges as part of successful implementation and resulting demonstration of the hydrogen fuel cell locomotive at the Placer Dome (CLA) Limited Campbell Mine. This technology demonstration at Campbell Mine is critical for determining technical, regulatory, and implementation aspects to be incorporated into future fuel cell prototypes such as the LHD project."

Jan 1, 2005

By A. Y. Senchenko, Y. V. Kulikov

"Different methods aiming at specific energy calculation and design of AG/SAG circuits are used in mining. They include JK DWT/SMC test, SAGDesign test and CWi/RWi/BWi tests. The simplest methods with no secret equations and giving energy required for grinding in kWh/t were proposed by F.?. Bond and J.H. Starkey. D.J. Barratt proposed to use results of CWi/RWi/BWi tests for AG/SAG mill sizing. The present paper gives an alternative for forecast of specific AG/SAG energy. The principle is similar to the theory proposed earlier and consists in cumulative AG/SAG energy calculation using indices of rod and ball grinding (RWi+BWi) without impact crushing index (CWi). Then total energy is divided between two grinding stages using special formulas based on extensive statistical information. The forecast indices of AG/SAG and ball grinding are similar to the SAGDesign testing results. Hereinafter the predicted indices are used for mill sizing of the whole grinding circuit. The method considered in the paper enables prediction of AG/SAG energy based on the test results according to Bond method. The proposed method version was not widely published earlier. The aim of the work was to elaborate cost-effective, reliable and accessible way to determine specific AG/SAG energy. At this stage of method development, it is recommended to use it only for works at preliminary Geometallurgy stage (Scoping, Pre-Feasibility). At design stage the obtained data should be confirmed by appropriate testing using alternative JK DWT/SMC and SAGDesign methods.INTRODUCTIONAppropriate crushing and grinding testing is required to design efficient comminution circuits. It is obviously important to obtain accurate information about ore hardness properties since the main energy consumption at the plant is associated with comminution processes. Moreover, it is required to apply the processes that make it possible to minimize operating costs and efficiently use capacity of the installed equipment installed.When studying ore hardness properties, it is required to take into account that breakage of the material is performed using different equipment. That is why accurate selection of the equipment and the circuit calculation without relevant testworks is impossible. Ideally, the testworks should provide answers to the following questions: determination of ore hardness properties, determination of specific energy consumption for comminution as well as obtaining of sufficient amount of statistically significant results from the tests. The results from crushability and grindability testworks in the first place provide assessment of ore hardness properties and in addition correlate with throughput of the respective equipment. The data obtained can be used for modeling of comminution circuits at the stage of the technology development"

Jan 1, 2016

By Bill Mercer

The Triggers for PDAC Involvement in H&S ??Increase in serious accidents in mineral exploration in past few years ??Increasing junior role in exploration ?? Impression that there were few H&S protocols in place in smaller companies ??Lack of national benchmarking ?? The attitude that H&S is a provincial responsibility ??Corporate Social Responsibility initiative What is the issue in exploration? ??Mining?s reputation as ?dirty and dangerous? ??In public?s and media?s minds exploration employees are ?miners? ??In Canada, regulators often do not distinguish between ?exploration? and ?mining?. ??How does exploration compare to mining from a H&S point of view?

May 1, 2008

By Colin Hardie, Simon Pelletier, Rakan Rhabani, Guy Comeau

"In order to improve the nickel concentrate thickener operation at Raglan Mine, two pulp deaeration cyclones were installed. These units obtained from Outotec Pty Ltd, also called the FrothBuster®, have been in continuous operation since mid-October 2006. The primary objective of the de-aeration cyclones is to lower the solids content in the thickener overflow by de-aerating the concentrate pulp before it enters the concentrate thickener. This dearated slurry should help decrease the nickel particle losses that report to the thickener overflow because of the flotation effect within the thickener.Optimizing the de-aeration cyclones has been a slow and ongoing process, however, initial testing is encouraging. The latest test results indicate a 50 % reduction (0.070 to 0.035 % solids) in nickel losses to the concentrate thickener overflow resulting in an additional $350,000 in annual revenues.This paper will present an overview of installing the de-aeration cyclones within a limited space, as well as the preliminary commissioning and testing challenges. This paper will also discuss the most recent concentrate thickener operating results since the de-aeration units were installed.INTRODUCTIONThe Xstrata Nickel Raglan Concentrator, located at the northern limit of Quebec’s Nunavik Region has been in production since 1997. In early 2002, the concentrator implemented the Zero Process Water Discharge (ZPWD) project to recycle the process water to decrease fresh water consumption and reduce discharges to the environment. Due to this initiative, the chemistry of the process water changed significantly resulting in flotation concentrate streams, which were very frothy and difficult to manage. This phenomenon has resulted in operational challenges in many areas of the concentrator including slurry pumping, flow measurement and concentrate thickening.In October 2005, the Raglan Mine underwent a conversion from an AG mill to a SAG mill operation in order to increase throughput and to optimize key process areas. As part of this project, the first two North American pulp de-aeration (FrothBuster®) units from Outotec were installed to improve the operation of the concentrate thickener. The primary objective of the deaeration technology was to lower the solids content in the thickener overflow by de-aerating the concentrate thickener feed pulp. This in turn was to reduce the froth, which accumulates on the thickener surface, and more importantly reduce valuable nickel losses to the thickener overflow because of the flotation effect within the thickener."

Jan 1, 2008

"Drilling twinned holes is a traditional technique used for verification of intersections of high-grade mineralization, testing of historic data, or confirmation of drillhole data during geological due diligence studies. Twinned holes can also be used for special tasks such as correcting earlier data that are recognized to be biased. Successful implementation of the twinned-holes technique requires thorough planning. Experience suggests that good practice is to drill twinned holes no more than 5 m apart. Many unsuccessful twinned-holes programs could possibly have failed because the twinned holes have been drilled too far apart.Twinned holes are best compared by mineralization intersections and, if the data and geological characteristics of the deposit permit, by samples, equal-length composites, or geological units. Variables to be verified by twinned holes should include the thicknesses of the geological units of interest (e.g., mineralized thickness) as well as the presence of significant geological features (e.g., ore/mineralization contacts, alteration, etc.).A formal, rigorous analysis of twinned-hole data is essential. Repeatability of sampling, analytical results, and bias must be analyzed and statistically quantified. The number of twinned holes required for conclusive statistical and geostatistical analysis can be as high as 20-30, in particular where the studied variables are characterized by high short-range (local) variability.The efficiency of this approach is demonstrated by several examples of successfully applied twinned-hole projects, including applications to orogenic gold, mineral sands, bauxite, and iron ore deposits."

Jan 1, 2009

By P. A. Riveros, W. D. Gould, R. Molnar, D. W. Koren, P. Bédard

This paper reports the results of the field demonstration campaign of a new process for removing and destroying ammonia from mining/ metallurgical effluent solutions. The 50-day campaign was carried out at a uranium plant in Saskatchewan, Canada. The process was developed by adapting and integrating two well established technologies: zeolite adsorption/ elution to extract the ammonia from the effluent stream and to produce a concentrated ammonia eluate; and conversion of the ammonia in the eluate to innocuous nitrogen by applying bacterial nitrification-denitrification (NH3 = > NO3 - => N2). The data show that reasonable target criteria were met, under very challenging operating conditions. Problem areas and possible causes for poor performance are identified. Preliminary and generic cost estimates of the process are also presented.

Jan 1, 2003

By Sergio Cattalani, David J. Kerr, Harold L. Gibson

Abstract - The Horne mine was truly a world class Cu and Au deposit. Between 1927 and 1989, it produced some 260 t of Au and 1.13 Mt of Cu from 53.7 Mt of ore that averaged 2.22% Cu, 6.1 g/t Au and 13 g/t Ag. The total value of Au and Cu production from the Horne deposit at metal prices of US$300/oz Au and US$1.00/lb Cu is an outstanding US$5.2 billion. The Horne mine was also a company builder. After optioning the property from Ed Horne (Tremoy Syndicate) in 1922, the Thomson-Chadbourne Syndicate discovered the deposit in 1923 and quickly grew to become Noranda, one of the world’s premier mining companies. This discovery fuelled exploration and, along with subsequent discoveries in the Val d’Or-Cadillac camps, led to the "economic development" of northwestern Quebec. The Horne deposit influenced and continues to influence genetic models for volcanogenic massive sulfide (VMS) deposits. Early observations at Horne contributed to an epigenetic replacement theory for VMS deposits. The most recent genetic model for the Horne, invoking sub-seafloor sulfide replacement of silicified and sericitized volcaniclastic host rocks within a graben, has subsequently been proposed for another giant VMS deposit, the Kidd Creek mine. The Horne and Kidd Creek deposits show many similarities, such as localization within synvolcanic grabens, long-lived hydrothermal activity uninterrupted by volcanism, sub-seafloor replacement sulfides, stacked sulfide lenses, zone refining, silicified footwall rocks characterized by high positive ?18O values, and association with FIII rhyolites. Notable differences between the two deposits include the lack of andesitic, basaltic or komatiitic flows at Horne, different inferred water depths, high Au content at Horne versus negligible Au, but sub-economic to economic concentrations of Sn, In and Cd at Kidd Creek.

Jan 1, 2000

By L. Bloomquist

This paper describes how Automated Mining Systems (AMS) is evolving the state-of-the-art in guidance systems for autonomous underground vehicles. The techniques, trade-offs, and lessons learned from these systems are described, including the safety regime that has been implemented. First generation autonomous guidance systems for underground vehicles relied on infrastructure for the vehicle to follow. However, there are additional costs associated with that approach. The current generation uses a pair of laser range finders as its only guidance sensors. This system uses a minimum of infrastructure, in the form of a redundant system of location referencing. Advanced steering and drive control algorithms are incorporated into this generation of system. The next generation of infrastructureless guidance systems will be based on a 3D vision sensor, which was originally developed for autonomous Mars rovers and is being adapted for underground mining use. Results of early underground field trials are presented, along with a description of this emerging technology.

Jan 1, 2004

By L. Bloomquist, C. Arnoldi

"This paper describes how Automated Mining Systems (AMS) is evolving the state-of the- art in guidance systems for autonomous underground vehicles. The techniques, tradeoffs, and lessons learned from these systems are described, including the safety regime that has been implemented.First generation autonomous guidance systems for underground vehicles relied on infrastructure for the vehicle to follow. However, there are additional costs associated with that approach.The current generation uses a pair of laser range finders as its only guidance sensors. This system uses a minimum of infrastructure, in the form of a redundant system of location referencing. Advanced steering and drive control algorithms are incorporated into this generation of system.The next generation of infrastructureless guidance systems will be based on a 3D vision sensor, which was originally developed for autonomous Mars rovers and is being adapted for underground mining use. Results of early underground field trials are presented, along with a description of this emerging technology."

Jan 1, 2004