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By Toivo Toivanen

The paper begins with a brief history of the nickel industry in Finland, and then deals with the introduction of the flash smelting process. The main part of the paper is devoted to nickel refining, which is studied under four main headings -grinding, leaching, electrolyte precipitation, and nickel electrowinning. Flowsheets are illustrated, and the equipment used is described. Analyses of the material in the various stages, from concentrate to high-grade nickel matte, are also presented. N ICKEL made its appearance in the Finnish mining industry forty years ago, when a nickel deposit was discovered at Petsamo in Lapland. Mond Nickel Co. received the concession for this deposit from the Finnish Government, and the Petsamon Nikkeli Company constructed a mine and a nickel smelter (1), the completion of which was prevented by the 1939 Winter War. The mine and smelter were, however, completed soon afterwards in spite of World War II,

Jan 1, 1964

By A. E. Gran

"QIT -Fer et Titane Inc. currently produces and markets four main products: a titania slag named SORELSLAG for the white pigment production, a high purity pig iron known as SOREL-METAL mainly used in the ductile iron casting industry, an ilmenite ore for blast furnace applications called SORELFLUX and high quality steel billets SORELSTEEL employed in the wire rod fabrication. Moreover , QIT also manufactures high quality iron and steel powders labeled ATOMET for the powder metallurgy industry through its wholly owned affiliate. Quebec Metal Powders Limited. The company operates. rock ilmenite mine near Havre St. Pierre and produces its slag and ferrous products from its metallurgical installations located in the Sorel/Tracy region. QIT. born in 1948 from a joint-venture between Kennecott Copper Corporation and New Jersey Zinc Company, was acquired from BP Minerals by RTZ Corporation PLC in 1989 and remains its wholly owned subsidiary ever since.lImenite is a mineral rich in both titanium and iron oxides. QIT's proprietary mineral enrichment and electric smelting processes permit the concentration of the ilmenite ore and the separation of its main constituents to produce a 80% TiO2, slag and a high purity molten iron which is further transformed into iron ingots (pigs), steel billets, iron and steel powders.QIT's ilmenite deposit is located in the Lake TIo-A1Iard area, 43 km inIand from Havre St. Pierre, a community on the north shore of the St. Lawrence River some 960 km from Montreal. The orebody, covering some 542 000 m2, consists primarily of coarse-grained ilmenite (FeO.TiO2) with disseminated fine lenses of hematite (Fe2O3). The worthless mineral (gangue) associated with ilmenite is mainly anorthosite, a complex silicate. QITs mining operations are carried out using conventional open pit methods in a 500 m by 600 m horse-shoe shaped mine with nine benches developed. Primary blasting is performed on a weekly basis during the mining season. Blasted ore is trucked to the crushing station to be broken down to 15 cm and 7.5 cm sizes, respectively, by means of a primary jaw crusher and a secondary cone crusher. Minus 7.S cm ilmenite is then loaded into hopper cars for the 43 km trip to the Havre St. Pierre terminal where it is stockpiled and reclaimed by under-ground conveyor chutes to a ship loading tower at the dock. The crushed ore is shipped to QIT's smelter located in Sorel in 40 000 tonne carriers from April to December."

Jan 1, 1995

By J. Budac, R. Kofluk, D. Belton, M. Sjogren

A series of tests were performed to determine the flammability limits of mixtures of oxygen, ammonia, steam and nitrogen, over a solution, in a sealed autoclave. The partial pressures of ammonia and oxygen in the vapour space were varied by adjusting the character of the solution and by adjusting the oxygen concentration in the oxidant gas respectively. The data shows that flammable conditions can be minimized by controlling the operating temperature, reducing the ammonia content in the solution, increasing the concentrations of Ni, Cu and Zn in solution and keeping the % oxygen in the gas phase less than 15.5. Observations were also made that suggest that the presence of an aerosol in the vapour space may hinder ignition.

Jan 1, 2004

By W. G. Millar

Until a fire occurs, insurance and prevention work are often looked on as unavoidable necessities, but as insurance is back of all business credit, it is essential to know that in case of damage money will be available to cover the loss; while the interruption of production, often caused by a fire, brings home the realization that if prevention work avoids such an interruption, it is well worth while. Fire insurance is a legal contract guaranteeing the payment of large amounts to an owner, but it is possible there is no other important contract that receives so little consideration. Although previously carried on elsewhere, it is only of recent years that insurance engineering has been actively followed up in Canada, with inspections of an owner's property carried out for his benefit. Now inspections of this kind are made, advice on fire prevention and protection work ?is available, reports with recommendations with regard to the above are furnished periodically, and with this method applied the owner receives the broadest possible cover and security at the lowest cost. Rates are set by the underwriters by rating schedules which charge for defects in a building and allow credits for protection and other favourable features . These schedules are based on the past record of loss of mining properties as a class, so that a fire in another mining property indirectly affects you, but the amount paid is reduced in proportion as your property is improved. The writer feels, from personal experience, that there is no industry where fire prevention receives more attention than the mining industry, and it is a pleasure to advise that, due to this co-operation, some reduction in the basis rates for mining risks is now being made by the underwriters.

Jan 1, 1928

By R. W. Diamond

PUBLIC debts, and the policies guiding public finance in Canada today, are in such a state that every intelligent citizen should be familiar with them, and should be concerned about them. None of you have robe reminded that taxes have already risen to a point where they both annoy and hurt you, but they should also alarm you; alarm you, not so much because of the taxation, but because of the mounting expenditures represented by that taxation. I have no hesitation, therefore, in presenting a paper dealing with public finance at a meeting of the Mining Institute, since all present are concerned,. both as individuals and as representatives of the industry. Moreover, it is important that engineers, particularly, should become better acquainted with the interlocking relationships of economics, public finance, government, and technology. While I am neither an economist, a tax expert, nor a chartered accountant, I shall try to tell you, from my viewpoint as an engineer and an interested voter, the story of public finance in Canada today and of certain causes and effects, and I shall venture certain conclusions. In doing so I may merit criticism by experts, but I will risk this in the hope that sufficient interest will be stimulated in the subject to persuade you, as individuals and as groups, to advance, or to institute, your own studies in public finance, and in turn to interest others. I hope that some of the ideas which will be expressed, or which may develop, will bear fruit. I fully realize that several eminently qualified men have spoken on this subject during recent months, and that many authoritative articles have been written. However, I approach it with confidence, because I propose speaking to you not as an authority, bur as one of you, having similar interests and similar engineering knowledge, who only a few months ago became particularly interested in the subject, studied it, and who now sets before you a summary of his findings, with the conviction that the situation is so serious that constructive planning and constructive action by all thinking citizens are imperative.

Jan 1, 1939

By Jean Robitaille

La découverte du gisement du puits Penna a nécessité une révision complète de tous les circuits du concentrateur Laronde pour permettre, premièrement, l?adaptation du procédé à la nouvelle minéralogie et deuxièmement, l'accroissement du tonnage de 1800* à 4500 t/j. Aux circuits existants de broyage, de flottation du cuivre, de cyanuration et du charbon en pulpe, les circuits suivants furent greffés : broyage semi-autogène, flottation du zinc, manutention des concentrés (épaississage, filtration, entreposage et chargement automatisé), décantation à contrecourant et précipitation au zinc, destruction des cyanures et remblai en pâte. Cet article se veut une revue des différentes étapes du projet d'agrandissement du concentrateur qui se sont effectuées par phases progressives de 1997 à 2000. De plus, une description des nouvelles technologies sélectionnées et implantées est présentée.

May 1, 2001

By Damien Gaboury

"Two practical methods for correlating two or more diamond-drill core intersections, using a stereographic projection software are presented. The first may be used to establish if two or more vein intersections are correlative, based on their core angles and diamond-drillhole attitudes. The second method allows prediction of main vein attitudes from numerous intersections, based on a spherical density contouring projection. The methods are suitable for: (1) correlating veins in complex orebodies; (2) ascertaining lateral continuity of ore for reserve estimations; (3) demonstrating the hidden complexity of an orebody; and (4) correlating and interpreting various planar elements.IntroductionModern mineral exploration relies on diamond- drill core data and on the ability of geologists to interpret them. Drill core generally yields unoriented information, unless an expensive orientation device is used. As a consequence, strike and dip of planar elements such as lithological contacts or mineralized veins cannot be determined easily. This is particularly true for blind deposits (covered by thick overburden) and complex orebodies, where field data cannot support drilling interpretations. Such a problem has been addressed previously using two and three diamond drillholes and several solutions were proposed based on trigonometry, and geometric and stereographic projections (Mead, 1921; Wisser, 1932; Fischer, 1941; Stein, 1941; Bucher, 1943; Gilluly, 1944; Addie, 1962; Mills, 1963; Lyons, 1964). However, these solutions are time consuming and not relevant to present day computerized data plots."

Jan 1, 1997

By F. Habashi

"A short account will be presented on the extraction of rare earths from monazite sand, bastnasite ore, and phosphate rock of igneous origin. This includes mineral beneficiation, leaching methods, fractional crystallization [of historical interest], ion exchange, solvent extraction, precipitation from solution, and reduction to metals. INTRODUCTIONOriginally, the term rare earths was only used for the oxides, R2O3, which are similar to one other in their chemical and physical properties and are therefore difficult to separate. Within the rare earth group, the elements scandium, yttrium, and lanthanum differ in their atomic structure from the elements cerium to lutetium (the lanthanides, Ln). Scandium occupies a special position with respect to this classification and its other properties, and therefore does not belong to either of these groups. The rare earth elements always occur in nature in association with each other. The isolation of groups of rare earth elements or of individual elements requires costly separation and fractionation processes owing to the great similarity of the chemical and physical properties of their compounds, which explains why the history of their discovery has extended over such a long period.The word “rare”, when used to describe this group of elements, originates from the fact it was thought that these elements could only be isolated from very rare minerals. Considering their abundance in the Earth’s crust, the term rare is now inappropriate. These elements are lithophilic and are therefore concentrated in oxidic compounds such as carbonates, silicates, titano-tantalo-niobates, and phosphates.The abundance of the rare earth elements taken together is quite considerable. Cerium, the most common rare earth, is more abundant than cobalt. Yttrium is more abundant than lead, whereas Lu and Tm are as abundant as Sb, Hg, Bi, and Ag. For all practical purposes promethium does not occur in nature. It forms only in nuclear reactors."

Jan 1, 2012

By B. I. Boyko

As part of the Ministry of the Environment's Resource Recovery Program, the Province of Ontario has constructed a $13 million "Experimental Plant for Resource Recovery" in Metropolitan Toronto. The technology and unit operations involved in the processing of municipal solid wastes at a rate of 40 tons per hour at this facility are reviewed. Shredding, air separation and classification, screening, magnetic separation and composting are some of the operations featured at this plant. Recoverable commodities expected include paper, ferrous metals, an air-classified light fraction (shredded paper and film plastic), glass and compost. Existing and potential markets for these materials are discussed.

Jan 1, 1978

By D. B. Hyma

"The Raglan Ni/Cu property is located on the Ungava Peninsula in Northern Quebec, Canada, at a latitude of61°42' and a longitude of73°40', approximately 40 km southwest of Douglas Harbor. Geological reserves are estimated at 18 million tonnes, grading 3. 1 % nickel, 0.9% copper and smaller amounts of cobalt and platinum group metals.Extensive project development has defined the concentration process, concentrator sizing, tailings and environmental management required for this project.The grinding circuit selected is a fully autogenous primary grind, with pebble crushing and a pebble mill for secondary grinding to produce a product of 80% -70 microns for flotation.The flotation circuit is a simple circuit utilizing roughing, a regrind of rougher concentrate to 80% -20 microns, two stages of column cleaning with a cleaner scavenger bank on the column tails.Concentrate handling options were thoroughly reviewed because of the pyrophoric nature of the concentrate, remote site location and long distance to downstream processing. The preferred option, currently.is to dry the concentrate at Raglan to less than l % moisture and then pneumatically handle the powder.A detailed analysis of tailings placement options, suggests filtered tailings placement to be the preferable route for the Raglan site.INTRODUCTIONThe Raglan Project, as proposed by Falconbridge Limited, will develop extensive nickel-copper deposits in the Ungava Peninsula, Quebec, Canada. The project schedule and construction conditions in the project area are demanding. The Raglan mineral deposits have been the subject of numerous studies and evaluations over the last thirty years and the Phase I 1991 pre-feasibility document includes exploration information obtained in the 1989 and 1990 drilling seasons. This review concluded that an 800,000 tonnes of ore per year mining and concentrating complex located at Katinniq could produce 20,000 tonnes per year of nickel at competitive costs."

Jan 1, 1993

By F. H. Wheeler

CONSIDERING the nature of this audience, I perhaps, in addressing you on the subject of air transportation as related to the mining industry, should speak with tongue in check or at least with some reservation. I know full well that many of you, veterans in the great mineral development in Canada, are perhaps more conversant with the overall aviation picture than I, for aviation to you has been the means to an end, and in many instances has been part and ?parcel in the success of your particular projects, in the form of the initial means of transport. I feel, however, that we in this room today have somewhat parallel geographic interests - yours in relation to what is in the ground, mine in the air - and also in the forests and in the streams - aviation, hunting, and fishing - things which have occupied my attention practically all my adult years. In the light of what has gone. before, and in view of present developments, I think you will agree with me when I say that I do not think there could be a more intriguing pursuit than playing a hand in rolling back Canada's tremendous northern frontiers, even if, at this stage, we have made but slight impression on the untold opportunities which lie in our wide-spread, undeveloped areas.

Jan 1, 1956

By Lewis Finch

Oil and .gas reservoirs exist under pressure within the pore spaces of rock structures or traps. Wells are drilled to produce these reservoirs. Under primary operation, the natural energy of expanding fluids in and adjacent to the reservoir forces or drives oil and gas to the wells. There are three basic sources of energy: dissolved gas, water, and gas cap. Typical recovery by primary methods is only 10 to 25 per cent of the oil in place for the dissolved gas drive but is generally higher for the others. Secondary recovery involves the injection of water or gas to supplement natural energy, thereby increasing recovery over that obtainable by primary operation alone. In many cases ultimate recovery with secondary methods is 1.2 to 2.0 times the expected primary recovery. The type programme adaptable in a field depends on its 'primary performance and on certain reservoir characteristics. In the United States, application of secondary recovery methods is becoming increasingly important. About 22 per cent of United States oil production now comes from fields in which injection projects are operating. In 1953, nearly 1.4 million barrels of oil daily came from such fields, more than double the amount in the early 40's. Ultimate primary recovery from known pools is estimated at roughly 73 billion barrels. Secondary recovery projects already in operation will increase this to almost 80 billion, an increase of almost 10 per cent. Unitized secondary recovery projects have been very successful. From unitized projects alone, industry reserves of oil in the United States have been increased by 3 1/2 billion barrels. In Canada, secondary recovery has not been so wide spread mainly because D-3 reef reservoirs which have held the major reserves are under water drive. However, appreciable amounts of water are being injected in the Redwater D-3, Leduc D-2 and Joarcum Viking reservoirs, and gas in the Golden Spike D-3. In both countries, possible achievements in increased recovery through secondary recovery methods now in use and by new ones which may be developed through research and field trial are a challenge to the scientist and the industry.

Jan 1, 1956

By Ralph W. Edie

"IntroductionTHIS PAPER deals with chemical and mineralogical changes in wall-rocks associated with pitchblende mineralization in the Gold-fields area of Saskatchewan. The localities at which the rock specimens studied were collected, and descriptions of the various rock-types referred to, are given in a previous paper by the author (5).The geological field work upon which this paper is based was carried out while the writer was employed by the Eldorado Mining and Refining Company during the summers of 1948, 1949 and 1950. The laboratory work§ consisted largely of quantitative spectrographic analyses for both major and minor elements, supplemented by an examination of 250 thin sections of both altered and unaltered rocks.Character of the AlterationHydrothermal alteration, with associated pitchbende mineralization, is widespread in the Goldfields area of Saskatchewan. The most intense alteration is restricted to the immediate vicinity of fault or breccia zones, but large areas are affected to a minor extent.In detail, the relationship between alteration and pitchblende mineralization is complex, as individual veins do not in general have separate alteration halos. Pitchblende generally occurs in gash-like calcite veins or stringers in wide, fractured zones associated with faulting. Large, lenticular and tabular masses of slightly to intensely altered rock occur in the same wide fracture zones as the mineralized veins. However, vein deposition appears to be-long to a later fracturing period, after hydrothermal alteration was more or: less completed. Generally, the veins transect and are confined to highly altered rock, but on the other hand many highly altered zones intersected in diamond drill-core are barren of mineralized veins."

Jan 1, 1953

By Nordau R. Goodman

"IntroductionTHE HISTORY of Nova Scotia's gypsum industry goes back about two hundred years. The extensive deposits found in the Windsor formation, which is Lower Carboniferous, were the first discovered in North America and were known to the earliest .settlers. There has been a steady increase in production from these beds, except for minor setbacks in years of wars and depressions, but at the same time there has been a decrease in the number of operating quarries. This decrease reflects the change from the days of horse-and-cart recovery to the modern, large-scale, highly mechanized operations. In the beginning, almost any outcrop could •supply the tonnage requirements and the most •convenient were selected, but the millions of tons needed to meet present-day needs are not easily found.Despite the size and importance of the Nova Scotian deposits there has been little detailed geological work. Sir Charles Lyell, in 1843 ( 10), established that the beds are Lower Carboniferous and this was confirmed by Sir William Dawson (3) a .few years later. Both Lyell and Dawson agreed the calcium sulphate beds were an original part of a bedded series .but did not consider they resulted from a concentration of sea water. Lyell reached the conclusion that the gypsum was related to volcanic action in the form of heated vapours or hot springs. Dawson believed it was formed by the action •of sulphuric acid on calcium carbonate. The acid, derived from the oxidation •of iron pyrites which was abundant in the older formations, was carried by rivers into basins which were rich in shells."

Jan 1, 1954

By C. DeLong

"The Mt. Milligan porphyry copper-gold deposits are in central British Columbia, 155 km northwest of Prince George. Mineralized outcrops and float were discovered in the Mount Milligan area by prospecting. The most recent discoveries, which utilized lithogeochemistry, were in 1983. Areas containing the outcrops and float then were investigated by geological mapping, soil and lithogeochemical sampling, ground and airborne geophysical surveys, trenching and diamond drilling. This work led to the discovery of the Mt. Milligan Main deposit in 1987 and the Southern Star deposit in 1989. Extensive diamond drilling continued until 1991 and delineated a measured and indicated resource of 299 million tonnes grading 0.45 g/t Au and 0.22 % Cu from the combined deposits.The Mt. Milligan deposits lie within the Early Mesozoic Quesnel Terrane and are hosted by porphyritic monzonite stocks and adjacent volcanic rocks of the Takla Group. The Mt. Milligan Main deposit is centred around the MBX stock and Rainbow dike, and the Southern Star deposit around the Southern Star stock.Potassic alteration is extensive within the stocks and in volcanic rocks adjacent to the MBX stock and Rainbow dike. Propylitic alteration surrounds the potassic alteration and decreases in intensuy away from the stocks. Mineralization consists mostly of pyrite, chalcopyrite, lesser magnetite, and minor bornite, molybdenite and gold.Mineralogical zoning is well-developed within the deposits. A biotite-rich subzone forms the core of the potassic alteration zone and hosts most of the copper and gold. Numerous polymetallic veins lie within the propylitic alteration zone just beyond the limit of porphyry-style copper-gold mineralization."

Jan 1, 1995

By Zhiqiang Wang

This paper mainly focuses on the method of ?three-zone? definition (a caving zone, a fissure zone and a curve subsidence zone) for full height cutting in a thick seam. Based on criteria of a caving zone and a water conducting zone, as well as existing research achievements, it is believed that there exists great error for calculation of height of the ?three-zone? area using cutting height and the coefficient of bulk increase. Dynamic factors should be considered, so, based on the theory of key rock strata and combining this with several other factors, such as mining area, this paper presents a new method to determine the overburden ?three-zone? definition. The results are as follows: (1) geometric models of a working face and key stratum are established through the rock displacement angle, with consideration of the influence of mining on the key stratum (the range of key stratum influenced by mining is enlarged as the mining area increases); (2) because there is always a cavity below the key stratum of the thick coal seam with full seam cutting, and the key stratum gradually fracture with face advancing, based on the geometric dimension of strata, the maximum fracturing interval expression has been presented, including the working face advancing range. This can theoretically lead to the location of the key stratum influenced by mining, and its stability before mining, helps to confirm which zone the key stratum and following-up strata belong to, using the criteria of sliding instability or deformation instability; (3) the new method of ?three-zone? definition which is based on the theory of key rock strata is first proposed for full height cutting in thick seam. Finally, combined with practical engineering, and comparing with field data, it is believed that the proposed method is more objective than existing methods.

Aug 1, 2013

By William E. Roscoe

"Non-producing mineral properties include those at various stages of exploration, properties at the pre-feasibility or feasibility stage, properties with currently uneconomic mineral resources, and past-producers. The market approach is applicable to all these types of non-producing mineral properties. Income approach methods such as discounted cash flow and option pricing are generally not applicable to properties at the exploration stage, but may be applicable to non-producing mineral properties with defined mineral reserves or mineral resources.The value of a non-producing mineral property depends on its perceived potential for the existence and discovery of an economic mineral deposit. The potential, in turn, depends on a number of factors which must be considered when choosing market comparables. These comparability factors include such items as geology, mineralization, stage of exploration and results, mineral resources, location and geography, and political jurisdiction. The date of the market comparables must be within a reasonable time period of the valuation date of the subject property. Although it is difficult to find good market comparables because of the unique nature of mineral properties and the small number of transactions, these difficulties are compensated for by analyzing a number of transactions on similar properties to develop a range of values for the subject property.For valuation purposes, market comparables can be expressed in terms of total property value, value per unit area (e.g., $ per hectare), or value per unit of metal contained in mineral resources (e.g., $ per ounce of gold, or $ per pound of copper). The market comparable value can be used to estimate the value of the subject property by using the total property value, unit area value or contained metal value."

Jan 1, 2003

By M. H. Fathi

The aim of this work was to prepare the metallic coatings on 316L stainless steel dental implant and evaluate the corrosion characteristics and thus the biocompatibility of the uncoated and metallic coated dental implants and comparison of the effect of the type of coatings on biocompatibility. Three types of metallic coatings including Tantalum, Niobium, and Titanium coatings were made using physical vapor deposition process on 316L stainless steel dental implant. Structural characterization techniques including; X-ray Diffraction, Scanning Electron Microscopy and Energy Dispersive X-ray Analysis were utilized to investigate the microstructure and morphology of the coatings. Electrochemical potentiodynamic tests were performed in two types of physiological solutions at 37±1 °C in order to determine and compare the corrosion characteristics. All three types of metallic coatings had a positive effect on improvement of the corrosion behavior so that the coatings could increase the corrosion resistance of 316L stainless steel and this trend was independent to the type of physiological environment. Biocompatible metallic coatings could decrease the corrosion current density that is a distinct advantage for prevention of ion release. This can improve the biocompatibility of the implant and, consequently prevention of tissue damages, inflammation and irritation and obtained desirable histopathological response.

Jan 1, 2007

By P. Babak, E. Insalaco, O. Babak, P. Henriquel

"Detection of outliers is an important primary step in geomodelling. Geological datasets often contain errors due to problems such as measurement device limitations and recording glitches. In this paper, a robust Mahalanobis distance–based approach is successfully applied to particle size distributions of the Joslyn lease, an oil sands development site near Fort McMurray, Alberta, Canada. Automatic outlier detection and geological review were combined. Outliers from the Mahalanobis distance approach were compared with their respective core photographs to determine if laboratory measurements and facies classification were correct. A checking procedure for laboratory technicians is proposed.RÉSUMÉ La détection des valeurs aberrantes constitue une étape primaire importante de la modélisation géologique. Les ensembles de données géologiques contiennent souvent des erreurs en raison de problèmes tels que les limitations des instruments de mesure et des pépins d’enregistrement. Dans le présent article, une méthode robuste basée sur la distance de Mahalanobis a été mise en oeuvre avec succès aux granulométries du bail minier Joslyn, un site de sables bitumineux en développement à proximité de Fort McMurray, Alberta, Canada. La détection automatique des valeurs aberrantes a été combinée à une étude géologique. Les valeurs aberrantes de la méthode de la distance de Manalanobis ont été comparées avec leurs photographies respectives de carottes de forage afin de déterminer si les mesures en laboratoire et la classification des faciès étaient correctes. Une procédure de vérification pour les techniciens de laboratoire est proposée."

Jan 1, 2015

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