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By Robert R. MacLachlan

New underground mining technology is evolving through the use of large-diameter bore holes containing individually restricted charge weights. This article presents summary observations on cube-root scaling trials using single and rows of charge blasting in sand and in frozen ground. These observations have some bearing on the evolving underground practice, especially where charges of appropriate geometry are used.

Jan 1, 1978

By J. Kochhar, Robert G. Cooper

"The Cape Breton Development Corporation is a federal Crown corporation which was formed in 1968. Initially, the Corporation had two divisions - the Industrial Development Division, whose purpose was to stimulate Cape Breton Island's economy, and the Coal Division with a mandate to phase out the operating coal mines. However, that strategy changed in the early 1970s with the Middle East oil crisis. As a result of that crisis, Nova Scotia Power Corporation adopted an ""off oil"" policy. Today, approximately 700/0 of Nova Scotia power needs are met by generation of electricity from coal. Therefore, since the early 1970s, emphasis has been on the rehabilitation of the Cape Breton coal mining business with the opening of three new mines.Today, Devco is solely a coal mining company which employs 3300 people.Physical DescriptionThe mines operate in the Sydney coal field which is located on the eastern tip of Cape Breton. The Corporation leases the deposit from the province of Nova Scotia and its leases cover all coal from the outcrop to the 4000 ft depth. The seams outcrop along the shoreline and dip beneath the ocean floor at dips varying between 5% and 100%.There are eleven seams, of which three - the Harbour, Phalen, and Hub - have been extensively mined."

Jan 1, 1990

By K. Karan

Oxygen reduction reaction in PEM fuel cell cathodes involves participation of three reactants - oxygen, hydrogen ions, and electrons. Electrochemical reaction in the catalyst layer is, therefore, influenced by how these species are transported to the reaction site. The two-phase boundary locations at which percolating networks of ionically conducting electrolyte and electronically conducting Pt/C meet are feasible reaction sites. The electrolyte phase also provides pathway for the transport of dissolved oxygen. Most of the 3-D models describe the catalyst layer as an ultra-thin layer, thereby, losing useful information on the distribution of electrochemical reaction rate. In this paper, we extend our previous work on 2-D cross-the-channel modeling of PEMFC cathode based on agglomerate catalyst layer. In particular, we take a closer look at the influence of proton conductivity on the reaction rate distribution in the catalyst layer. As well, we re-examine the role of anisotropic transport coefficient of the porous transport layer (PTL), commonly known as the gas diffusion layer, on the current density distribution under the channel and the rib of the flow-field plates. Results from both a 2¬D and a 3-D models will be presented.

Jan 1, 2005

By Franz Simon

Conventional fine gold electrolytes for barrel applications working electrolytically actually permit significant precious metal savings by corresponding optimizations but the most gold is still deposited on areas of the components where it is not absolutely essential for the desired bonding and soldering applications, i.e. in high current density areas. Therefore an electrolyte working electrolessly has been developed which inevitably leads to a much more uniform thickness distribution since in an electroless process there are no areas favoured by metal deposition and current distribution. The new electrolyte will be presented and its performance will be compared with conventional electrolytes as regards thickness distribution. The potential gold savings will be discussed.

Oct 1, 2003

By C. T. Dzgoev, S. S. Gudkov, IRGIREDMET JSC, S. G. Schtoick, A. V. Yepiforov, S. V. Balikov, I. I. Yevtuschevich

The pressure oxidation (POX) and pyrometallurgical process comprises POX of gold containing sulfide and polymetallic lead-zinc concentrates prior to reduction smelting of POX products to generate a lead-silver-gold alloy. Refined lead and gold-silver alloys are then obtained using conventional processes. Zinc and other base metals are recovered from the POX solution. In the course of POX, zinc dissolves in the solution and lead concentrates in a solid residue in the form of sulfate compounds. Sulfur forms the major iron sulfates and jarosites. In order to dissolve sulfur and arsenic from solid residues to the solution, the slurry hot curing was carried out at the temperature of 95°C within 2 hours. After filtration of the slurry, zinc was recovered from the solution. The resulting cake was washed with water and subjected to hot alkaline treatment. After alkaline treatment, the cakes were blended with fluxes and subjected to reduction smelting to generate lead concentrate containing precious metals. This concentrate was refined to obtain refined lead and gold-silver alloy. After iron and arsenic were removed from POX solutions using sodium carbonate, zinc was precipitated as carbonate. After thickening and filtration, zinc precipitate was roasted to generate saleable zinc oxide. Using this process, the recoveries of values to saleable products were 97% Au and 95% Ag to the alloy, respectively, 91% Pb to refined lead and 5% Pb to lead and antimony alloy and 94% Zn to zinc concentrate. The features of the technology is that it has high recovery indices of precious and base metals to saleable products and can be used to process various polymetallic ore and technogenic raw materials.

Jan 1, 2016

By Pan Zhao, Yan-Nan Wang, Fei-Long Liao, Can Cai, Kai-Song Wu

"What are the basic physical parameters and main geometric parameters that are capable of representing the microscopic characteristics of rock? How can these parameters be used to accurately describe the macroscopic mechanical behavior of rock? With such questions in view, and based on the microcosmic structure analysis of rock slices, this paper presents a rock skeleton-pore structure model, holding that rock's mechanical behavior depends on the properties of rock skeleton materials and the form, size and distribution pattern of pores. According to rock stress and deformation behaviors, and in line with the skeleton-pore structure model, an essential mechanics theory for rock is advanced. The assumption that the skeleton materials are incompressible in volume and an introduction of logarithmic strain, generate the relation between porosity and apparent strain. Then, the notion that positive damage and negative damage are represented in terms of porosity is put forward; threshold value of porosity is derived by the damage threshold value of apparent volume strain; a general damage variable of rock is obtained; eventually, with the skeleton-pore model as the groundwork, a global damage constitutive equation is developed, which, with definite physical significance and material parameters to be easily determined, is convenient to apply. It has been proved that the results calculated with this new equation are well in agreement with experimental results.INTRODUCTIONRock is a form of material that contains pores, cracks and skeletons. Skeletons are composed of particles and cements. Pores or cracks within rock actually undermine the assumption of material continuum in solid mechanics. Hence, grave errors — or even false results — are inevitable if some solid mechanics theory is quoted in the discussion of rock mechanics. Many researchers in the field of rock mechanics have attempted various remedies, but the outcome is far from satisfactory — a mechanics theory for rock, in its true sense, has not been established."

Jan 1, 2015

By L. Van Wyk, J. Fernandez, J. Suarez, L. J. Diaz, A. Uria, D. Breeuwer

"Ventilation is an essential component of any underground mine, playing a vital role in ensuring the health and safety of workers, and a mine’s continuous operation. At a time when mining companies are increasingly having to move to deeper underground operations in pursuit of high-grade ore-bodies, the search is on for more efficient ventilation systems that will allow mining to be carried out at even deeper levels whilst ensuring the protection of workers and the maximisation of productivity through temperature management and the lowering of energy costs. Mining companies today are looking for innovative ways to deliver new technologies and procedures to enhance their mine’s profitability. Energy consumption by mine ventilation systems is higher than ever due to stringent specifications of underground equipment (primarily combustion engine emissions), air quality standards and mining at deeper levels which all require more powerful ventilation systems. With energy costs associated with operating ventilation systems being a mine’s second-highest cost of production after labour, finding the optimal ventilation solution is critical to a mine’s performance. Proper fan design remains a major factor in reducing capital expenditures (CAPEX) and operational expenditures (OPEX), which means that there are compelling reasons for making use of comprehensive factory testing at full power before fans are dispatched to site to simulate the mine’s current and future design requirements, and thus verify the fan’s effectiveness in ‘real’ conditions.INTRODUCTION A primary mine fan is considered the heartbeat of the entire mine ventilation system, drawing fresh air from the surface and providing a safe environment for miners. A ventilation system’s lack of performance often leads to a reduction in acceptable air quality levels for underground working operations and can potentially have an adverse impact on production rates."

Jan 1, 2019

By Morris J. Viljoen, David R. Young

"The zone of economic interest at H.J. Joel Gold Mine is the VS5/Beatrix Composite Reef, a quartz-pebble conglomerate of Archean age. The reef occurs at the base of the Eldorado Formation, Central Rand Group, of the Witwatersrand Supergroup. At least three stratigraphically distinct conglomerates form this economic zone. In order of deposition these are the Footwall, Beatrix, and the VS5/Beatrix reefs. The Footwall and Beatrix reefs are equated with the Aandenk Formation with transport directions toward the northwest, whereas the VS5lBeatrix Reef is of Eldorado age, with transport directions toward the south. The change in the drainage direction was caused by a major basin-wide tectonic event that occurred prior to the deposition of the Eldorado Formation. The Beatrix Reef was formed in a proximal, braided, fluvial environment by a process of aggrading gravel bars between channelways. The VS5/Beatrix Reef was formed by the desegregation of pre-existing Beatrix Reef with the introduction of new material containing much shale detritus and is seen to have been deposited in a more -distal, braided, fluvial environment, similar to the Beatrix Reef.The average gold concentrations are different for each conglomerate; the Beatrix at 32.1 ppm Au, the Footwall at 24.4 ppm Au, and the VS5/Beatrix at only 12.4 ppm Au. A sedimentary gold concentrating process related to higher energy braid channels was primarily responsible for these high gold grades. Not only the basal unconformity surface, but also, internal degredation surfaces, were prime sites for concentration. An understanding of the spatial distribution of these differing conglomerates and their braid channels forming the economic reef zone is necessary in predicting ore grades for future mining."

Jan 1, 1994

By Guocheng Pan

"Although many factors play roles in the estimation of recoverable reserves, smoothing effect and conditional bias are considered major geostatistical issues in the estimation. This paper introduces measures for smoothing effect and conditional bias, and provides insights into their relation to the estimation of recoverable reserves. Both smoothing effect and conditional bias are intrinsic to the information effect and kriging estimators. For a given level of drilling information, however, it is possible to identify the optimal search radius that minimizes conditional bias. Furthermore, it is also feasible to define variance correction factor for reduction of the smoothing effect from exploration block models. Both of these components are key to the accurate estimation of recoverable reserves. IntroductionThe accurate estimation of recoverable reserves is critical to decision making in different phases of feasibility study and mine planning. Much attention for improving the methodology of estimation has been focussed on the effect of the change-of-support (Parker, 1980; Dagdelen, 1996). For example, it is essential to make a volume- variance correction to the estimate of multiple indicator kriging (Hoerger, 1992). When the size of block, b, in the geostatistical model differs from that of selective mining unit (SMU), v, a volume-variance correction is warranted for the prediction of recoverable reserves.Most mining plans and decisions are made prior to the availability of high density blast-hole samples. In most mining operations, the true SMU grade Zv is unknown at the time of selection. Instead, the selection is based on the estimate Z v**derived from high density blast-hole samples within the deposit G. Nevertheless, the estimate Z v * of recoverable reserves in the stage of mine planning is derived from exploration data. At the end, the production result must be reconciled to the estimate Z v * . In other words, the selection is based on Z v** from blast-hole samples, while the final production figures are reconciled to Z v * from exploration drilling. For a given preselected cutoff grade z0, the actual mining panels will consist of the units having the estimated grade Z v** =z0 rather than the true grade Zv =z0. The difference between Z v** and Zv is usually of less concern."

Jan 1, 1998

By Peter A. Hacquebard

"The coals of the Sydney and Pictou coalfields are generally classed as high volatile ""A "" and medium volatile bituminous coals but there are significant differences within and even beyond this rank. These are related to the observation that the coalification in eastern Canada is essentially post-deformational, resulting in a general increase of rank with depth in individual seams.Exploration drilling in the Sydney coalfield has shown that the rank increases offshore to M. V. bituminous at mineable depths and in the Pictou field to L. V. bituminous coal. There is also a marked easterly shift in rank within one seam at the same depth at Sydney, with the result that M. V. coal will be reached sooner in the Donkin Reserve area (at 700 m depth) than in the Lingan-No , 26 Reserve area (at 900 m depth). These rank changes are important for the manufacturing of metallurgical coke as shown with coke stability predictions based on petrographic analyses. The L. V. coal of the Pictou field can be used for blending purposes and is the only known L. V. deposit of mineable thickness in eastern Canada.In addition, the vertical rank changes between seams have been studied in ten boreholes. They are not constant within the confines of the Sydney coalfield. Four separate areas can be recognized, each with different coalification gradients, which can be related to changes in the paleogeothermal gradients . Variations of 2.5 degrees to 6. 7 degrees CI IOO m are indicated and geological causes for these changes are suggested.IntroductionThe Sydney coalfield is the largest and most important field in eastern Can ad a, and although it has been in production some 200 years, the remaining ""demonstrated "" resources of 1.6 billion metric tons can extend its production capability for at least another 100 years. All coals mined are high volatile "" A"" bituminous and have been used for both thermal and metallurgical purposes. For the latter rank variations even of a minor scale are of critical importance for the manufacturing of metallurgical coke.The significance at the present time of the Pictou coalfield, which has only modest remaining "" demonstrated"" resources of 60 million metric ton s, lies in the discovery in 1975 of a 14-million-ton deposit of low volatile bituminous coal. It is the only known low-volatile coal in eastern Canada and is suitable for use as a blend for metallurgical coal. As such, it could supply the Sydney coke ovens for a period of 30 years at the current rate o f coke production and replace imported American low volatile coal.Consequently, coal rank studies of the Sydney and Pictou fields are important not only from a geological point of view, but also because of economic considerations."

Jan 1, 1984

By M. A. Stogran-Baker, S. Cole

"Fluorspar mining occurred in the St. Lawrence area from the 1930s until the mid 1980s. In 2013, CFI discovered a new ore body, the AGS vein, which proved amenable to more economic open pit mining methods. A new mill was designed to produce 200,000 tonnes per year of high quality, acid-grade fluorspar concentrate. The simple mill flowsheet includes crushing, dense medium separation (DMS), grinding, sulphide flotation, pulp thickening, fluorite flotation, thickening, and concentrate filtration. The type of flotation cell used is being installed for the first time in North America. Site clearing commenced in the spring of 2016, followed by mill building erection completed by the fall of the same year. Civil and mechanical installation as well as site-wide construction was completed by the end of September 2017. Commissioning commenced, and at the time of paper submission mill production is on track to ramp up to full capacity by the beginning of 2018. This paper will focus on the use of fluorine NMR analysis applied to fluorite and the development of on-stream analysis, flotation cell selection and the decision to install the new cells, and the water control program designed to maintain process control with the least possible environmental impact.HISTORY St. Lawrence is located on the south-eastern coast of the Burin Peninsula in Newfoundland and Labrador. The first occurrence of fluorspar in the St. Lawrence area was recorded in 1843 by British geologist J.B. Jukes (DNR 2010). Fluorspar was likely extracted in small quantities prior, however commercial fluorspar mining did not commence until 1933 at the Black Duck Mine. The Black Duck Mine operation processed ore by washing and screening – acid-grade was hand-picked from the oversize, the undersize was sold as a lower grade product. The Black Duck Mine was closed in 1941 (Wilson 2010). The American Fluorspar Limited (New Fluor) commenced operations on the Director vein in 1936, and was bought by Alcan in 1942 (Cooper 2012). Alcan also developed the Iron Springs as well as the Tarefare deposits. The Black Duck Mine mill had closed, and a new mill was built. This new mill crushed the ore prior to dense medium separation, the sinks of which were sent to Quebec for use in Alcan’s aluminum smelter (CFI 2016). Alcan shut down it’s mining operations in 1977 due to the dropping price of fluorspar as well as labour disputes. In 1986, the British-based Minworth Limited began producing ore from underground at Blue Beach North and Blue Beach South, as well as from open pits at Tarefare and Director veins (Cooper 2012). A new mill was built by Minworth in order to process the ore using flotation to produce an acid-grade concentrate. The low price of fluorspar caused Minworth to shut down operations in 1990. Whilst exploration has been ongoing, no mining had occurred in the area since 1990."

Jan 1, 2018

By V. J. Hucka, J. H. Tu

"A computer model has been developed for evaluating the performance of truck and shovel operations in an open-pit mine. The data required for describing the haulage network are simplified and shift startup and ending procedures specific to any given mine can be incorporated into the model readily . The model uses a FORTRAN-based simulation language SLAM and can be tailored to the conditions and practices of a particular mine.The model is used to analyze truck and shovel operations, evaluate different haulage layouts in the planning stage, or compare the expected performance of alternative truck dispatching systems.Stochastic simulation is used to model the random variation in time required f or the individual activities. This gives a more realistic representation of the processes under study. Simulation runs show good agreement with actual performance. The model is especially useful for examining alternatives in equipment acquisition , haulroad design, truck-shovel allocation and dispatching methods. The results of such simulations provide a sound basis f or making major management decisions.IntroductionTruck haul age is widely used in open-pit mining operations. It is also the largest cost item in the operating costs of an openpit mine, in some cases accounting for an estimated 50% of operating costs(1) , Truck replacements, which are necessary from time to time, involve large amounts of cap ital. Increasing depth of mining and consequent increase in stripping ratios require additional capital investment in the truck-shovel fleet. The sharp rise in energy costs over the last decade has also contibuted significantly to an increase in truck fleet operating costs . All these factors have led mine operators to search for ways to improve the effectiveness of the truck-shovel fleet, in order to lower costs and maintain a profitable operation in the face of declining markets and increasing world wide competition.Control of truck haulage in an open-pit mine is usually done in one of two ways."

Jan 1, 1985

By J. B. Hinzer, J. D. Harvey

"Noranda's Lyon Lake property in the Sturgeon Lake area of Northwestern Ontario was staked by Mattagami Lake Mines Limited in May 1969 to cover airborne Input anomalies. Subsequent ground geophysical and diamond drilling programs resulted in the disco very of the Boundary Extension, Lake and Creek ore zones. As of December 31, 1978, ore reserves were estimated at 3,945,000 tons assaying 6.53 per cent Zn, 1.24 per cent Cu, 0.63 per cent Pb, 3.42 oz/ton Ag and 0.010 oz/ton Au.These deposits are hosted within the South Sturgeon Lake volcanic pile of Archean age, which consists of several cycles of basic intermediate and felsic volcanic materials overlain by a sedimentary iron formation and built upon a plutonic base (Franklin , ' 1975). The top 50 m of the second felsic cycle, according to mine terminolo gy, contains the mineralization within Quartzphenocryst- bearing felsic lapilli tuff and underlying thin discontinuous graphitic sediments and altered coarse pyroclastics. The basal andesitic member of the overlying cycle forms the hanging wall to the ore deposits.Although there is no alteration pipe below the deposits, the coarse footwall rocks are permeated by chlorite, garnet, carbonate, iron sulphide and magnetitie-bearing veins intensifying from west to east.Immediate host rocks are alkali depleted and MnO, FeO, Zn and Cu enriched compared to Goodwin's (1972) average Archean rhyolites. Bedded pyrite-pyrrhotite-chalcopyrite lenses with sphalerite-rich tops are underlain by weakly developed stringer mineralization.Traversing eastward from the Lake Zone to the Creek Zone and toward the Sturgeon Lake Mine deposit, more rapid facies changes, more pronounced chloritic and carbonate alteration, the presence ofgarnets, greater MnO, FeO, CaO and Ag abundances, and increasing Zn/Cu and MnO/FeO ratios are apparent."

Jan 1, 1981

By M. Savich

A graphical method has been developed for the evaluation of the U.S. Occupational Safety and Health Act Noise Exposure Index and the Equivalent Continuous Sound Level. The method makes use of a noise survey form and a mechanical integrator with two sliders, and is less tedious and susceptible to error than alternative methods. The graphical method is adaptable to various codes for noise exposure and may be used with any instrument that measures noise level. One example of its application to a practical situation in a Canadian mine is given to demonstrate the procedure .

Jan 1, 1978

By J. Zhang, T. Oleniuk

It is well-known that Saskatchewan has the world’s richest uranium deposits and advanced processing technologies. Unlike the Saskatchewan deposits, complicated mineralogy is common for other places in the world. Mineralogy dictates the process. Mineral Processing at the Saskatchewan Research Council has been working with the uranium industry worldwide since its inception to develop effective processing technologies to suit the unique mineralogy of each deposit. This paper reviews the research and development of uranium processing technologies in the current major uranium production areas such as Canada, as well as the potential development regions like Argentina and Sweden. Acidic and alkaline leaching processes, as well as by-product recovery technologies are discussed based on mineralogy.

Jan 1, 2020

By SANDVIK WHITE

The mining industry produces approximately 4-7% of global greenhouse gas (GHG) emissions. It is fundamental for mining operations to take immediate sustainable action to actively contribute to an emissions-free future for the next generations. The mining industry has traditionally relied heavily on diesel technology and transitioning to more sustainable solutions requires change management to drive cultural acceptance and new product development. Sandvik was interested to find out the lifetime emissions of a single drill rig and to compare similar application diesel and BEV drill rigs with same use profile to each other. That led the calculation and pondering towards comparing different countries and mine sites as well

Jan 1, 2023

By T. Banerjee, R. deS. Almeida, D. Gudgeon, F. C. F. Batista, L. deÁ. Silva

"Yamana Chapada’s mine is one of the larger copper-gold mines in Brazil. The mine is located in Goiás state, in the central part of Brazil. The mine has estimated Mineral Reserves of 4.1 million ounces of gold and 3.2 billion pounds of copper as of December 31, 2016. While gold and silver are significant, Chapada’s process flowsheet is configured closer to that of copper facilities. This includes a SAG/Ball configuration for grinding followed by flotation. In the case of Chapada, the mineralogy results in higher-than-normal complexity, notably a significant circulating load both in the grinding and flotation circuits. From an operating perspective, the complexities are controllable, but require careful attention to ensure that circulating loads are effectively managed and gold is not lost to tailings. Chapada created an automation roadmap in 2016 designed to increase plant performance (tonnage, recovery and efficiency). Based on strong potential, the project was fast tracked and within 4 months instruments were installed, control algorithms implemented, and training sessions took place to ensure sustainability at site. This paper will follow the Chapada journey from identifying the opportunities through to implementation and testing.IntroductionYamana Chapada mine is a Copper-Gold mine located in Goiás State, Brazil. Although the mine contains large quantities in Mineral Reserve of gold (4.1 million contained oz as of December 31, 2016), Chapada is primarily a copper mine with copper principally found as chalcopyrite. Accordingly, the processing flowsheet at Chapada is comparable to that of other copper mines with a SAG and Ball mill each partnered with a cyclopack, followed by a flotation circuit. While the overall design is conventional, the mineralogy at Chapada results in significant circulating loads both in the grinding and flotation circuits. This does introduce certain complexities for operating strategies and practices, but, importantly, favourable recoveries and elevated processing rates can be maintained, albeit they need to be closely managed. Plant automation helps in this regard."

Jan 1, 2018

By M. B. Myers

The subject matter of this paper will be discussed under three main headings. 1.-Fire-Resistant Fluids: (a) the need for such materials, based on historical events; (b) a definition of fire -resistant fluids; (c) general description, characteristics, operational parameters, advantages and disadvantages of oil-in-water emulsions (HFB), water-polymer fluids (HFC) and anhydrous or synthetic fluids (HFD). 2.-A review of equipment associated with the use of fire-resistant hydraulic fluids; (a) performance testing of hydraulic equipment, i.e. gear pumps, vane pumps, axial and radial piston pumps, hydraulic motors, etc., pressure, speed, filtration limitations, etc., and effects on valves, elastomers, paints, etc.; (b) hydraulic system design features and selection of suitable units; (c) types of mining applications currently employing fire-resistant fluids. 3.-Test methods used to evaluate fire-resistant fluids: (a) fire testing methods, i.e. wick tests, spray ignition testing, hot manifold tests, factory mutual tests, all to establish fire-resistancy parameters and acceptance; (b) new developments in fire-resistancy evaluation; (c) the examination of other performance tests, e.g., effects of evaporation, sliding wear, life of rolling element bearings, etc.

Jan 1, 1979

By V. Polotski

Initiated and financed by the Canadian Space Agency, Micro-Rover Platform with Tooling Arm (MRPTA) project has targeted the development of a robotic system with remote control and autonomous navigation capabilities for testing a large variety of analogous planetary missions. Although developed for planetary exploration, the navigation system is highly suitable to such areas of application as construction and in mining. Autonomous navigation system is capable of moving the platform to predefined position(s)/orientation(s) while continuously mapping the terrain, assessing its traversability and choosing most appropriate path to follow. Designed according to the JAUS (Joint Architecture for Unmanned Systems) framework, the system consists of several interconnected components. Following components are of particular importance: Pose Estimator (PE), Terrain Evaluator (TE), Map Manager (MP), and Path Planner (PP). The PE uses a minimal sensor configuration consisting of an azimuth gyroscope, inclinometer and wheel odometry. The PE provides reliable pose estimates in spite of pronounced slippage by employing extensive use of fused data. The TE uses a nodding laser scanner which continuously sweeps the area in front of the platform and constructs a ?traversability grid? (TG) of the surrounding area. Multiple TGs are constantly constructed along the platform motion path are combined into a terrain map maintained by the MP. The PP uses this map to compute a motion path Obtained path is executed by the motion controller and remains current until it is contradicted by the most recent map ? at which point it is re-planned. This paper addresses integration issues, lessons learned and also outlines the possible applications for construction and mining.

Aug 1, 2013

By G. R. Cope, C. D. Spence

"The Mac porphyry molybdenum prospect is located 100 km east of Smithers in central British Columbia. The identification of anomalous levels of molybdenum, copper, and silver in three adjacent lakes, sampled during a regional lake sediment survey, lead to the discovery of molybdenite mineralization in float. Subsequent magnetic and soil geochemistry surveys, together with prospecting and mapping, located the source of the float. Mineralization is hosted by a leucocratic granite stock of the Upper Jurassic to Lower Cretaceous Francois Lake Intrusions which has intruded Carboniferous and Permian Cache Creek Group volcanic and sedimentary rocks. The stock measures 500 m by 300m at surface and is mineralized throughout. Sulphide mineralogy is simple and consists of molybdenite with minor pyrite and local chalcopyrite. Molybdenite occurs within fractures and as selvages along quartz stockwork veins and is best developed near the margins of the stock.Known mineralization is coincident with distinct soil geochemistry and magnetic anomalies. Two additional areas of the property display similar features and these remain to be tested.IntroductionThe Mac property is situated in the Babine Lake area of central British Columbia on NTS map sheet 93K/13E, approximately 100 km east of the town of Smithers (Fig. 1). The property lies on the western margin of the Hogem Range at the northern tip of the Nechako Plateau. The centre of the claim block lies at 54°51 ' 30""N and 125 °34 '30""W.Topographically, the claims are characterized by gently rolling hills ranging in elevation from 900 m to 1500 m. Slopes are forested with tall conifers and underbrush is minimal. Flat-lying areas are swampy with tall grasses and scrub brush.Presently, the property is only accessible by helicopter from bases located in Smithers and Fort St. James. Recent road construction by the British Columbia Forest Service has brought road access from Burns Lake to within 5 km due south of the property. It is expected that in the near future, roads will be advanced into the claim area to facilitate logging of mature timber."

Jan 1, 1995