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By JOHN DUNFIELD

Good quality sphagnum peat bogs occur across Canada in areas of ample rainfall and cool, temperate climates. Early peat production techniques were restricted primarily to hand digging blocks of peat and piling them up to be dried by sun and wind. Suburban de velopment in the 1950s and the concomitant spread of home gardening triggered a dramatic growth in peat demand; labour costs rose in the same period. Peat production techniques had to alter accordingly. The three mechanical inno vations attempted were hydraulic mining, mechanical block digging and vacuum harvesting. Of these, the last method pro ved the most successful in Canada and is used to harvest 80% of Canadian peat production. Escalating transportation costs are the most important feature affecting future development of the Canadian peat industry.

Jan 1, 1984

By W M. Gilchrist

This paper gives an estimation of the future requirements of the western world in relation to energy re-sources. It then goes on to outline the role that atomic power -with its basic raw material, uranium -will play in supplying these energy requirements. Canada's position in this picture is covered, and some interesting forecasts are made. Introduction I T is possible that the following remarks will appear to have more to do with power than uranium. However, to fully comprehend what is in store for the Canadian uranium mining industry, we must be able to estimate the potential requirement, and, to do this satisfactorily, a thorough understanding of the circumstances that will give rise to that demand is necessary. The growing need for electrical energy will play by far the major role, as large tonnages of uranium will be required for its generation. The nuclear weapon has, up to the present, comprised the major market for uranium.

Jan 1, 1964

By Y. Mudryk, D. Paudyal, K. A. Gschneidner, V. K. Pecharsky, M. Khan

"Rare earth intermetallic compounds are utilized commercially as magnetic and battery materials, electron gun electrodes, etc. Several of these intermetallics will be briefly discussed. There are many other rare earth intermetallic compounds which are not utilized industrially but have unusual properties which are of fundamental interest and may have future technological applications. Several of these materials are discussed as well.INTRODUCTIONTens of thousands of rare earth intermetallic compounds exist, but physical properties (primarily their magnetic behaviors), other than their crystal structures have been measured for only a small percentage of these materials. Among these are the commercially important compounds: Nd2Fe14B, and the SmCo5 – Sm2Co17 family – well known high strength permanent magnets; (Tb0.3Dy0.7)Fe2, Terfenol-D, a giant magnetostrictive material; LaNi5Hx a critical component of the rechargeable Ni metal hydride batteries; and LaB6 an electron emitter. There are, however, many other intermetallic compounds which are not utilized industrially, but none-the-less, exhibit interesting, and sometimes, exotic physical properties which are of fundamental interest and may have some future technological significance. These include: the giant magnetocaloric effect compounds Gd5Si2Ge2 and La(Fe13-xSix)Hy; the RCu and RAg families of ductile intermetallics; the mixed intra-lanthanide (R,R')Al2 compounds in which magnetic transitions disappear and reappear as one R is substituted for by R'; and GdNi which exhibits large dilations along two crystallographic directions and a larger contraction in the third direction at the Curie temperature resulting in zero volume change as GdNi orders magnetically via a second order phase transition.COMMERCIALLY IMPORTANT INTERMETALLICSNdFeB Permanent MagnetsThe Nd2Fe14B permanent magnets were discovered in 1984 independently in the USA and Japan. It is a ferromagnet and with proper heat treatment and processing Nd2Fe14B is the strongest near room temperature permanent magnetic material known today. This intermetallic compound is utilized as a permanent magnet in many applications, such as electric motors (e.g. the modern automobile contains up to 35 electric motors), spindles for computer hard disc drives, microphones and speaker magnets for cell phones and other audio equipment, direct drive wind turbines, actuators, and Magnetic Resonance Imaging (MRI) units. There are two kinds of NdFeB permanent magnets – bonded and sintered. The bonded magnets have a lower magnetic strength than the sintered magnet. The highest strength magnets are obtained by small substitutions of Dy (up to a maximum of 10%) for Nd, because Dy can significantly increase the coercivity and thus the energy product (a measure of the magnetic strength or hardness). The bonded magnets account for about 12% of the NdFeB market (~82 metric kt per year, containing ~20 kt/a of Nd). The NdFeB permanent magnet market is growing at a rate of about 15% per year. (Burzo & Kirchmayr, 1989; Kobayashi & Hirosawa, 2001; Coey, 2011)."

Jan 1, 2012

By Robin Belley

Outline Introduction Wabush Mines HistoricalBackground Mine and Concentrator at WabushMines High Intensity Magnetic Separators (HIMS) Development of the Manganese Removal Process Pilot Plant Testing Phase Manganese Removal Line 1 Coming Phase: Manganese Removal Line 2 Manganese Concentration Process Development Historical Background 1847: Creation of the Cleveland Iron Company1850: Opening of its first iron ore mine in the Upper Peninsula of Michigan 1965: Beginning of Wabush Mines at Scully Mines, Wabush, Labrador. 1980-1990: Questions raised about how to exploit Scully high Mn Ore (> 2%)Part of the available ore is not saleable due to too high a level of pyrolusite (MnO2) Adding this ore to the resources would be valuable (longer mine life and lower stripping ratio) 1990s: Testwork for Manganese removal Many different processes are studied over more than a decade High Intensity Magnetic Separators (HIMS) are identified as the best technology for Mn removal 2007: Pilot Mn removal line installed Testing carried out through 2007-2008 First Production Line is ordered (2008) 2009: Cleveland Cliffs (now Cliffs Natural Resources)acquire the remaining part of Wabush Mines 2010: Mn Removal Line 1 construction & commissioning Summer 2011: Mn Line 2 Construction

May 1, 2011

By P. R. La Pointe, J. Clark

"Studies have shown that the roof in coal mines is nearly twice as likely to fail at intersections as at entries due to enlarged roof spans, stress redistribution and other factors. However, the relative stability of intersections in a mine varies, and an improved understanding of what factors impact roof instability can lead to efficient, proactive mining practices that both enhance stability and mining efficiency.A study was undertaken at an underground longwall coal mine to develop a model to predict the stability at the intersections of entries and cross-cuts. The statistical analyses relied upon observational and measured data regarding the development of tension cracks, seepage, intersection geometry, mining practices, geological attributes and geomechanical factors at 783 intersections. Each intersection was given a NIOSH roof. Common data mining techniques, such as multivariate linear regression, multinomial logistic regression, decision trees and probabilistic neural nets, were considered and evaluated to establish correlations and associations between stability and the other variables. Two of the more successful techniques were Decision Trees and Multinomial Logistic Regression. The analyses showed that a number of factors impacted stability:• Overburden thickness (impact on stress concentration magnitudes)• Initial opening area (impact on stress concentration magnitudes)• Sulfur content (depositional environment & impact of mechanical properties, leaching effects)• Intersection type (impact on stress concentrations)• Gob distance (impact on stress concentrations)• Presence or proximity of a particular sandstone (impact on mechanical properties)• Roof bolt type and diameter (impact on reinforcement)Some factors showed no statistically significant relation to stability. These included:• Total area• Supported areaSeepage was a more problematic variable in assess. Seepage is associated with instability, but it is not clear whether seepage occurs as a consequence of instability, for example, through the creation of tension cracks, or whether the intersection has been excavated where water already exists and has degraded the rock prior to excavation, leading to greater instability.Seepage appears related to the geology of the roof rock mudstones, not the sandstones. Tension cracks in the intersections occur preferentially where the Sulfur content is below 0.9%. The Sulfur may relate to mechanical differences in the roof rock, and where the Sulfur is low, the roof is less stable, there are more tension cracks, and seepage is greater. This suggests that the weaker mudstones may be more prone the development of tension cracks, not because these rocks are more brittle, but possibly weaker.2-way and 3-way intersections appear to have less seepage than 4-way, although very few intersections overall have any seepage. This is similar to the roof stability, in which the 2-way and 3-way are more stable. 2-way and 3-way intersections have fewer-than-expected tension cracks, while 4-way have more than expected. These results suggest that four-way intersections are weaker and more prone to tension crack development, also suggesting that increased seepage results from weaker roof conditions, rather than the converse. Thus seepage appears to be mostly a consequence of instability rather than a cause and is higher where there are 4-way intersections, mudstone geology and external loading factors like depth of cover and proximity to gob that promotes crack development. The study also indicated that a better understanding of the mudrock facies could reduce uncertainty."

Jan 1, 2015

By A. F. Abd El-Rehim

The behavior of both transient and steady state creep of Al-4.5 wt% Cu and Al-4.5 wt% Cu-0.1 wt% In alloys was investigated using a constant stress where torsional oscillations of different frequencies and shear strain amplitudes were operated at various working temperatures. An augment in both transient and steady state creep rates was observed by increasing both frequency and shear strain amplitude of the applied oscillations. The mean values of the activation energy of both alloys for both creep stages were found to be equal to that quoted for dislocation intersection mechanism.

Jan 1, 2006

By Alan Bateman

Introduction A few years ago the name Katanga recalled, to those interested in copper, a far-off country in central Africa where deposits of huge size were beginning to pour a stream of copper into the world's markets. But no one heard of the adjacent part of northern Rhodesia as a potential copper region. It was then a bush-covered wilderness, with a few lonely, widely-spaced villages, and here and there a copper prospect that created but little outside attention. There was also one struggling mine whose development created pessimism. The low-grade carbonate outcrops of Rhodesia did not compare favourably with the rich carbonate ores of Katanga. And, since Katanga was mining only oxidized ores, it was then thought that this adjacent region likewise would contain only oxidized ores. The one mine that had been started, Bwana M'Kubwa, was working on low-grade carbonate ore at a loss. The outlook was not promising. But, a little over three years ago, the aspect changed. The vision of one far-sighted engineer embraced the possibility that here copper sulphides might underlie those low-grade carbonate croppings. His courageous associates furnished the capital; drilling commenced, and the great Roan Antelope mine rapidly emerged. In quick succession, the N'Kana, Mufulira, N'Changa, N'Changa Extension, and Chambishi mines were heard from. Prospecting and development are now proceeding apace, towns are being hewn out of the virgin bush, plants are being reared, and ramifying branch railways are being pushed out from the single line of steel that now connects Rhodesia with the coasts to the south. A great new copper-mining centre is in the making, about which the world will hear much in the future. As with most new mining camps, rumors abound regarding its ore possibilities; some are correct, some are erroneous, and reliable information unfortunately is all too scanty.

Jan 1, 1930

By J. F. K. Brown

WHEN I first received the kind invitation extended to me by the Mining Society of Nova Scotia, I read over very carefully the suggested title-"The importance of long-distance planning and budgetting in modern methods of mining, and the advisability of working to some definite plan". I came to the conclusion that I might as well confess my inability to handle properly such a vast and intricate subject within the scope of any one paper. More properly, I think a round-table discussion should be indulged in-a sort' of symposium carried on in similar fashion to the World Power and Coal Conferences- you know, a committee for this, a committee for that, and, finally, a committee to see what the committees are doing. Weil, your Secretary's suggestion is just like that- much too comprehensive for any half-hour's presentation. As a paper, also, it either becomes too general and therefore uninteresting, or i.t descends into detail and describes means and methods to the end desired, which have little attraction because they were designed to meet quite different conditions than those my audience would mentally be considering. Of the two evils facing me, I have chosen the one that sticks to the generalities. Your Secretary's query almost automatically divides itself into two distinct phases: First, the importance, and second, the advisability, of planning. Let us dwell for the moment on the second, because, if we can prove advisability, that leads to desirability and, finally, to doing. Proving is the difficult part of the little problem. Here was something I, personally and as a mining engineer, had been battling for all my corporate life without being able to prove it to anybody. Then I saw the way out of that. I perceived I could put that little question of advisability on another basis altogether-:put it in the class of "coming- some day- soon" whether you or l or anybody else liked it or not; call it, if you please, mandatory, certain, necessary, enforceable planning. All of which means that the problem of advisability has rather suddenly become the very practical one of "how to do it". Why?

Jan 1, 1937

By G. A. Frame, J. G. Patterson

The 24,000-tpd Frood-Stobie mill grinding circuit operation and control are described. Changes implemented during the past three years to improve grinding efficiency and capacity are discussed.

Jan 1, 1971

By Yu Chen, Charlie C. Li

The application of rock bolts for the stabilisation of underground openings needs a good understanding of the response of the bolts during rock excavation. The pull-and-shear performance of two types of rock bolts—that is, the fully encapsulated rebar and the D-Bolt—has been studied both experimentally and numerically. The rock bolts were tested under a pull-and-shear load at five displacing angles (i.e., 0°, 20°, 40°, 60°, and 90°), and at the same time, the strains on the bolts were monitored during testing. The two types of rock bolts have similar loading capacities, while the loading angle has obvious influence on the deformation capacity of the D-Bolt. The ultimate total displacement of the D-Bolt decreases from 140 mm under pure pull loading to 70 mm under shearing. The displacement capacity of the rebar is not significantly influenced by the loading angle but remains at a quite low level from 29 to 53 mm. The D-Bolt yielded in a longer section the rebar bolt under pure shear. A trilinear material model was used to simulate the strain hardening behaviour of the bolt steels in the numerical code FLAC3D. The numerical results show that the axial load in the bolt decreases exponentially with the distance from the loading position for the rebar bolts, but it remains constant in the bolt sections between the anchor positions for the D-Bolts. When the bolt is subjected to a lateral load, shear stresses are created on the D-Bolt surface within a short distance from the loading position.

Jan 1, 2015

By D. G. Minnes

Talc has been mined at Madoc since 1896, the oldest mine in continuous operation in Canada. Canada Talc Industries Limited operates the Henderson and Conley deposits by underground methods. A newly discovered East zone is being de veloped by open pit. The raw Henderson talc is a foliated talc schist of high purity and whiteness; Conley talc is a white talcose dolomite. Products are used primarily as fillers in paints, plastics and rubber.

Jan 1, 1984

By D. J. Cheung, V. N. Kazakidis

ABSTRACT Seismicity and rockburst problems in hard-rock mines negatively impact safety and profitability. The authors propose a design risk methodology as a relative risk assessment for underground excavations vulnerable to rockburst damage. It considers rock mass conditions relating to mininginduced stress, geological structure, rock mass properties, and mining influence. Application of the methodology to rockburst cases involving seismically active fault zones at the Craig mine in Sudbury, Ontario, Canada, demonstrates that design changes can reduce exposure and economic risks. Mines with high geotechnical risk can use the design risk methodology to evaluate design alternatives as a risk management strategy.

Jan 1, 2014

By C. M. Campbell

THE dire effects of rapidly vanishing natural resources, widespread unemployment, and increased debt and taxation in recent years have challenged Canadians to produce a practical solution to these national economic problems. In more recent months, wars and rumours of war have indicated, among other things, the need for better control of our mineral wealth. The erection of a smelter on the lower mainland coast of British Columbia, treating all Western ores, and such ores as it will be found advisable to import, will make an important contribution toward a solution of these problems. It is believed that the ores tributary justify a smelter of major proportions. A stock-taking to confirm this can be made with reason-able accuracy in a short time, and this should be undertaken without delay. Enough general information is, however, available .in this paper to justify the technicians of the Department of Mines at Ottawa and of interested smelting companies making a preliminary study of the matter. THE DEFENCE ARGUMENT As a factor in rearmament, metals play a vital part. That rearmament is to continue on an increasing scale is indicated in Premier Chamberlain's address of October 3rd last, when he said: ?'For a long period now we have been engaged in this country in a great programme of rearmament which is daily increasing in pace and volume. let no one think because we have signed 'this agreement between the four powers at Munich we can afford to relax our efforts or call a halt in our armaments at this moment'. As matters stand, the facilities in British Columbia are entirely out of line with the strategic importance of this Province as the Western Front of Canada and the Empire. All our copper ores, and an appreciable part of our lead and zinc ores, are sent for treatment to Japan, United States, and Europe, while we import our iron and alloys. A treatment plant on this Coast would not only give us control of war metals and chemicals but it would provide an increased industrial and research population, badly needed in this area and of the greatest value in the case of war. This is where the mining industry can do its bit.

Jan 1, 1939

By L. J. Friedman

The recovery of sulfur dioxide from metallurgical gases for the production of sulfuric acid has been the primary means of reducing sulfur dioxide emissions from nonferrous smelters. Sulfuric acid has been produced from gas originating from fluid bed roasters, electric furnaces, reverberatory furnaces, flash smelting furnaces, Pierce Smith and flash converters, sinter machines, etc. The gas from each of these sources has a unique set of variables that affect the design and operation of the sulfuric acid plant. In addition, the sulfuric acid plant itself has been evolving, with new equipment designs and materials. This paper will review each of the unit operations in the gas cleaning and contact sections of the metallurgical sulfuric acid plant, discussing various equipment designs, materials and the handling of gas stream variables and impurities. The paper updates to 2007 previous works on metallurgical sulfuric acid plants by the authors, and analyzes new equipment and systems, including: FRP or alloy quench systems, alloy converters, towers and pump tanks, heat recovery systems, high efficiency mist eliminators, tower packing, etc.

Jan 1, 2007

By M. Cousineau, S. Gariepy

"Current business and corporate environments push for improving metal accounting practices in smelters. The ensuing projects commonly proceed along a bottom-up approach. As such, efforts are first put on reviewing the measurement system and then on remedying the identified weaknesses. The focus is thus moved to mass/metal balance only after the measurements upgrade process has been completed. However, practice has shown that assessing the high variances related to suboptimal measurement processes is complicated without the help of statistical data reconciliation. This bottom-up approach leads to a to-do list that can not only exceed available resources but also lack prioritization in view of achieving the targeted end use. This paper describes an upgrade project done differently where all the three dimensions of the metal accounting system: hardware, software, and people were instead involved at the onset. Personnel was thus trained on data reconciliation software at the beginning of the project to make the reconciled mass balance benefits available earlier in the upgrading project. This has pinpointed the most critical measurements where accuracy and reproducibility should be improved. Overall, not only the instrumentation retrofitting process has been streamlined, but the global risk for the whole upgrading project has been significantly lowered.INTRODUCTION Mining companies are pressured to improve their production accounting practices in response to the strengthening of corporate requirements for timely and accurate production reporting (Gaylard, Randolph, & Wortley, 2014). Smelters are not spared from these changes. However, their unique situation in the mining value chain set them as strategic targets for upgrading projects. They usually have a longer lifespan than concentrators thereby offering an extended lifecycle to justify investments. Furthermore, numerous smelters have toll agreements with third parties. Accurate cost and production accounting is, therefore, a vital piece of information to fix acceptable contract conditions. Mining companies are ultimately aiming at a clearer view of the operating performance of each business unit to improve their business decisions in a competitive environment. This sought for increase in visibility through plant performance can only be achieved through an upgrade of the metal accounting system. Figure 1 shows the different components of a state of the art system (Gaylard, Morrison, Randolph, Wortley, & Beck, 2009)."

Jan 1, 2017

By W. J. Wolfe

"THE DETECTION OF BURIED MINERAL DEPOSITS by chemical analysis of vegetation (biogeochemistry) or visual observation of plant cover type (geobotany) is based on fundamentally simple principles. The root systems of vegetation collect aqueous solutions from a large volume of moist ground below surface and act as efficient sampling mechanisms by providing a composite sample of a reasonably large area. These aqueous solutions constitute a source of ore-associated metals that may ultimately be concentrated in the upper parts of the plant. Although certain plant species have a limited ability to break down primary minerals and extract elements, biogeochemistry normally detects only metals capable of moving in solution. Metal concentrations in the underlying soil must therefore exist in a form that is immediately available for uptake by the root systems - generally in the ionic state in aqueous solution or in readily exchangeable form on the surfaces of soil clay minerals. As a result, biogeochemical responses are closely related to variables such as soil pH, Eh, exchange capacity and complexing agents that control metal mobility in the surface environment. In terms of cost, reliability and anomaly contrast, soil geochemistry will normally be more useful than biogeochemistry in locating buried mineralization in regions of residual overburden or thin transported cover. However, in areas where the root systems penetrate thick deposits of transported post-mineralization overburden, plants can provide an effective mechanism of sampling below the transported material. Biogeochemical research in Canada, Scandinavia and the U.S.S.R. has therefore focused on the potential use of plant prospecting methods (1) in areas where the upper horizons of podzolic soils do not provide an adequate response to anomalous conditions under thick deposits of glacially transported till and (2) in widespread regions of peat and muskeg terrain where near-surface mineral soils are absent."

Jan 1, 1971

By Joseph F. Daniels

In recent considerations of the utilization and beneficiation of coal, the chemise and the chemical engineer have been occupying the centre of the stage with their presentation of the picture of new fuel forms. The stage hands and supernumeraries of the cast, the miners and the consumers who carry the brunt of the present-day burdens, are apt to be forgotten in the glorious settings and the climaxes. With no thought of disparaging or of minimizing the efforts of our fellow scientists, let us remember that economic considerations as well as technical difficulties will limit these chemical applications, which must develop and move slowly before reaching the stage of industrial application at some later day. In the meantime, the coal-mining industry must live on hard faces rather than rosy dreams. In these brief notes it is my purpose to call attention to some of the physical advances in the utilization and beneficiation of coal which have been of interest to the industry in the State of Washington.

Jan 1, 1928

By Mi, Dong Liang, Jingyuan Bai, Victor Zhou, Xujun

Squirrel cage induction motors are the mostly used motors at present. Currently, the rotors of the squirrel cage induction motors are produced by aluminum die casting technique with the advantages of low cost of rotors. It is well known that the copper’s electrical conductivity is around 40% higher than that of aluminum. If copper is used to replace the current widely used aluminum in rotors, the total loss of motors will be reduced, hence increasing the overall motor efficiency. Copper rotors can be used to produce high efficiency and even super premium efficiency motors without enlarge the motor frame size. Considering the huge quantity of motors, the die casting process is the best solution to produce copper rotor with economic cost. Because of the characteristics of copper, it is difficult to produce copper rotors by casting similar to that done in aluminum rotors. In order to improve the die casting quality of copper rotor, a new tooling structure was developed and the casting process of copper rotor was simulated and analyzed by Any-casting software. The filling process, solidification process, inner gas distribution and residual melt modulus were analyzed. It was found that the design of symmetrical runner and inner runner on both sides was helpful to reduce the impact of molten copper to the cavity surface during the filling process. The use of Slag traps array can reduce die casting defects inside the end rings. That will be helpful to improve the rotor quality. INTRODUCTION Squirrel-cage AC induction motors are most widely used in the world. In 2017, the total installed capacity of AC motors in China has reached more than 1.2 billion kW, and the annual power consumption accounts for about 60% of the total national electricity consumption. To improve the efficiency of squirrel-cage motor will be helpful to energy conservation and environment protection. There are several ways to improve efficiency of induction motors, using copper rotor is one of the most effective solutions. It is well known that the copper’s electrical conductivity is around 40% higher than that of aluminum. If copper is used to replace the current widely used aluminum in rotors, the total loss of motors will be reduced, hence increasing the overall motor efficiency. Copper rotors can be used to produce high efficiency and even super premium efficiency motors without enlarge the motor frame size.

Jan 1, 2019

By J. W. McCammon

WHEN times are booming and metal prices are high, most mining men pay little attention to the industrial mineral industry. However, when metal prices drop and mines close down, many mining eyes begin to scan the less glamorous non-metallic field. For some this proves a temporary diversion, but others find this branch of mining, with its generally more stable conditions, to their liking and enter it permanently. The resulting gradual influx of trained mining men into the industrial mineral industry ?has been one of several factors responsible for the rise in production of non-metallic materials in our Province. Another and ?perhaps the most important factor influencing the production of industrial minerals has been the growth in the population of British Columbia. Because most industrial minerals .are low priced and either heavy or bulky commodities they are normally sold on relatively local markets. Thus the extent of the development of the industrial mineral industry of a region is largely governed by the size of the population and the level of industrialization of that region. This point is well shown by com-paring population and industrial mineral production statistics for 1936, 1946, and 1956 (see Figure 1)9. Note that not only has the overall production rate grown with the population increase, but that the per capita production has risen greatly.

Jan 1, 1958

By M. P. Tibbs

An autonomous spray application system for a structural Thin Spray-on Liner (TSL) is targeting productivity and safety on underground coal continuous miners by potentially replacing steel mesh, and has broader applications as surface support and confinement in metalliferous mines and civil tunnelling. Polymer chemistry, coating formulation, geotechnical assessment and the autonomous application system are being developed as an integrated package as part of a continuous miner automation project. This polymer-based TSL system has significant benefits over conventional steel mesh skin confinement, including being more automatable by spray application, providing complete skin confinement and active skin reinforcement as a fast-curing composite with substrate, and having effective fire retardant properties for the polymer and the underlying coal. This paper presents a preliminary assessment of distance sensing systems that would enable autonomous adaptation of a nominal spray path to spray a consistent thickness of TSL (nominally 5mm) over an irregular topography. Two alternate sensors are assessed; firstly, a 2D LIDAR mounted on a linear axis is used to produce a 3D surface profile for generating an adapted spray path; and secondly, a robot end-effector-mounted ultrasonic sensor is assessed for wall following techniques to dynamically adapt a nominal spray path.

Aug 1, 2013