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By Y. Héroux, A. Chagnon, M. M. Savard

"Résumé- Le gîte de Pb-Zn de Gays River s'accompagne d'anomalies des propriétés de la matière organique (MO) et des assemblages de minéraux d'argile (AMA). L'association entre la minéralisation, la distribution de la réflectance de la MO et des AMA suggère que ces traceurs peuvent servir à l'exploration des sulfures de métaux de base dans cette région.A l'emplacement du gîte, la réflectance varie considérablement (0,80% à 1,88%), pouvant même afficher une baisse avec l'enfouissement, ce qui est interprété comme une altération chimique de la MO. Les valeurs les plus élevées s'accompagnent localement de quelques textures en mosaïque et délimitent une anomalie thermique au centre sud de la région. Parmi les minéraux des argiles identifiés, l'illite et la chlorite sont terrigènes alors que la smectite, la kaolinite et la corrensite sont authigènes et, à l'instar de l'altération de la MO, résultent des nouveaux équilibres chimiques créés suite à la précipitation des sulfures.Abstract- The Gays River Pb-Zn ore deposit is associated with anomalies defined from the characters of the organic matter (OM) and from the clay minerals assemblages. The relationships be­ tween these anomalies and the mineralization at the mine suggest that these parameters can be used as new guides for the exploration for base-metal sulfides in this area.The vitrinite reflectance (RJ shows a wide range of values (0.8% to 1.88%) and exhibits an anomalous suppressive effect with depth of burial at the mine site, suggesting a chemical alteration of the OM. The highest R, values are associated with mosaic textures and outline a thermal anomaly at the south-center of the studied area. Among the identified clay minerals, illite and chlorite are terrigenous, whereas smectite, kaolinite and corrensite are authigenous and, like the alteration of the OM, are due to the new chemical equilibria resulting from the precipitation of the sulfides."

Jan 1, 1994

By Alex Rown

"THE SYDNEY COAL FIELD has long been afflicted by high costs and low productivities. However, a distinct possibility now exists that improvements can be made in costs, productivities and revenues. If these hopes materialize, the Sydney coal field will once again be regarded as a valuable asset in our national inventory of energy and metallurgical coals. The economic possibilities for the Sydney collieries depend on performance at the pits and in the market place. Because this audience is already well informed about colliery planning, I would like to start with an assessment of the modern coal market insofar as it may relate to the Sydney field. Since 1950 we have seen a vast growth in the population and industrial empires of the western world which has resulted in an enormous and escalating demand for energy. If the energy supply pattern of the first 50 years of this century had been followed, this would have led to an immense demand for coal."

Jan 1, 1972

By Michael Zurowski

This paper traces the history of International Mogul's assessment program on the Lake Ainslie barite-fluorite deposits of Cape Breton Island. The geology of the area is outlined, and the main vein systems described. The geophysical and geochemical exploration techniques employed are explained, the metallurgy of the ore is covered, and the market prices and economics of operation are described.

Jan 1, 1972

By O. Hall

STOPING at Noranda" is a sequel to "Mining at Noranda". "Mining at Noranda", presented in 1937 (1), sketches Noranda's history, metallurgical problems, exploration, mining methods, mining details, pillar extraction, and costs. "Stoping at Noranda" deals in greater detail with our stoping, the use of sub-level drifts instead of benches, and the drilling out of the stopes with jointed rock drill steel and diamond drills. Sun-LEVEL DRIFT STOPING: Sub-level drift stoping is almost universal throughout the mine and is the standard sroping method in both sulphide ore and rhyolite flux ore. The features that have led to the adoption of this standard are: (1) Continuous symmetrical drilling in sub-level drifts with no delay for blasting. (2) Large-tonnage blasts Saturday night after the drillers have left. (3) Comparative freedom from gas and smoke during the working days. ( 4) The daily safety achieved by having all stope drilling done in drifts. (5) The safety and security achieved by drilling out stopes, floors, and pillars before there is any weighting or cracking.

Jan 1, 1939

By C. W. Davis

AN inclined shaft is usually more difficult to sink than a vertical shaft, yet it is often chosen because of the subsequent saving in cross-cuts required to reach an inclined ore body. This paper briefly discusses the factors which led to the choice of an incline and then describes the operations involved in the preparatory work and in the sinking. These operations included a programme of mining out the underground facilities and installing the structures required for a hoist-room, cable-raise, waste-pass, ore pass, two sets of skip dumps, and a collar station equipped with counterbalanced drop-rails. The shaft was sunk 1,000 feet and four stations were cut, each with loading pockets. As the sinking progressed, the rock changed from hard porphyries and dense cherts to blocky limestones and earthy rubble. These conditions called for a change in methods and it is to the red it of the shaft-sinking crew that they overcame the new difficulties as the shaft progressed, while maintaining a satisfactory monthly advance. The section mined out was nine feet six inches by seventeen feet overall. This gave room for three compartments: two skip compartments four feet three inches by five feet nine inches inside the timber, to handle two-ton skips, and a manway three feet six inches by five feet nine inches. The sinking began on December 16th, 1941, and was completed on February 15th, 1943.

Jan 1, 1945

By N. H. J. Freire, D. Majuste

In this paper, the effects of some organic compounds on the current efficiency, cell voltage and specific energy consumption during nickel electrowinning, and on the deposit features (morphology, crystallographic orientation and nanohardness) were described. The organics tested here (extractant, diluent, flocculant, lubricating oil and acid mist suppressant) are currently used in industrial plants. The results indicated that only the flocculant and acid mist suppressant exhibit relevant negative impacts on the current efficiency and energy consumption. The current efficiency dropped from 93.6 % (organic-free solutions) to 86.0 % and to 92.8% in electrolytes containing 100 mg.L-1 of acid mist suppressant and flocculant, respectively. At this concentration, their addition to the electrolyte led to increases of the specific energy consumption in the order of 18 % (acid mist supressant) and 2 % (flocculant). Cyclic voltammetry showed that Ni nucleation occurs at more negative potentials at 50 and 100 mg.L-1 of these organics in the electrolyte, thus indicating an inhibition of the deposition process. The deposit quality decreased at the higher concentration of all organics, when more hydrogen pitting was observed. The acid mist suppressant caused delamination of the Ni deposit at 50 and 100 mg.L-1. The addition of 100 mg.L-1 of flocculant and acid mist suppressant to the electrolyte increased the nanohardness of the deposit around 31 and 72%, respectively. The increase in Ni deposit hardness may lead to a decrease in the material ductility, thereby affecting the stripping and cutting of Ni sheets. Our findings may be helpful since strong adverse effect of some organics that may be present in the electrolyte were identified, thus the industry can control and optimize the organic´s dosage in the corresponding operations.

Jan 1, 2016

By D. H. Stonehouse

Of the f ive Canadian cement producing regions- Atlantic, Quebec, Ontario, Prairie and Pacific-Ontario has the greatest capacity and normally produces the most cement. However, during the last 5 years the greatest activity within the industry in Canada has been in the Prairie and Pacific regions where major capacity increases have taken place. Most Canadian cement companies produce normal Portland, high-earlystrength Portland and sulphate resisting Portland cements. Some companies also manufacture moderate Portland cement, and low-heat-of-hydration Portland cement. Escalating energy costs highlight the need for technology research into more energy-efficient equipment for the energy-intensive cement industry. The industry is well integrated and plants are well situated to support construction in Canada. Expansion into the United States has become common during the past decade.

Jan 1, 1984

By J. E. Armstrong

THE Pinchi Lake mercury belt is in central British Columbia, about fifty miles north of the Prince Rupert branch of the Canadian National railway (Figure 1). Until 1936 little was known about the geology of this area. Jn 19~6 and 1937, J. G. Gray and the writer mapped the Fort Fraser area (G.S.C. maps 630A and 631A) for the Geological Survey of Canada. During the field season of 1937, cinnabar was discovered by J. G. Gray in the Permian limestones on the north shore of Pinchi lake on what have since proved to be the main showings of the Pinchi Lake mercury mine. Claims were staked in the spring of 1938 and later that year were optioned to the Consolidated Mining and Smelting Company. Development work revealed cinnabar deposits of commercial size and grade, and a small reduction plant was erected, production of mercury commencing in June, 1940. Since 1940, this plant has been enlarged by additional units. The ore treated is reported to contain between 0.5 and 0.75 per cent mercury. The production of mercury from this deposit is now far in excess of Canadian requirements and this country is able to supply the United Kingdom with part of its needs. In 1940 and 1941, several other occurrences of cinnabar were found northwest of Pinchi lake. During 1941, the writer made a geological investigation of the known cinnabar occurrences and of the belt of country in which they are located. The present paper summarizes the results of this work. The writer is indebted to officials of the Consolidated Mining and Smelting Company, and to Mr. E. Bronlund of the Pinchi Lake mine in particular, for their generous co-operation in the work.

Jan 1, 1942

By H. Kim

"IntroductionThe Hat Creek coal field contains low-grade coal deposits which are the thickest in the world. The diamond drilling and geophysical surveys conducted by B.C. Hydro over the last six years have indicated in excess of 2 billion tonnes of sub-bituminous to lignitic coal. The coal field is in the Interior Plateau Dry Belt, about 240 km northeast of Vancouver, and contains two explored, nearsurface coal deposits amenable to surface mining (Fig. I). The No. I deposit contains approximately 740 million tonnes of coal at 17.71 MJ / kg, or 7,600 Btu/lb, at 34.82% ash and 24% moisture. The No. 2 deposit to the south contains appreciably more coal resources at somewhat lower grade, but it has not been explored so extensively because of its higher stripping ratio. Therefore most of the exploration activities to date have been directed toward the development of the No. I deposit. The No . I coal deposit has been selected as the source of fuel for a proposed thermal powerplant to be built about 5 km east of the deposit. The purpose of this paper is to summarize the data obtained from the diamond drilling and the geophysical logging in the No. I deposit between 1974 and 1979. An attempt is made to explain the depositional environment of the Hat Creek coal measures. Because the understanding of the depositional environment in.a particular basin is essentially an evaluation of all the geologic properties of the area, the available geological information in the No. I deposit has been compiled on the basis of consistent criteria. This includes data on the lithology of the coal measures, thickness and areal distribution of the elastic sediments, and on the changes in the megascopic stratigraphic profile based on geophysical correlation. The palynopetrographic relationship and detailed sedimentological aspects are not examined in this paper. Such studies should provide important information relating the causal vegetal and chemical responses of the coals to -environmental changes. Extensive deposition of surficial materials during de-glaciation left most of the area of the Upper Hat Creek Valley devoid of bedrock exposures. Structural and stratigraphic features are hidden beneath glacial deposits and/or post-Eocene volcanics. As a result, the geological interpretation of the Hat Creek coal basin has been based primarily on drilling and geophysical data. Because of this, any explanation of the depositional environment details is tentative until the deposits are stripped for development."

Jan 1, 1985

By Rob Boom, Yasuyuki Tozaki, Frank M. Wheeler

Selection of a suitable site for a metallurgical plant is crucial for the success of the business case. For a brownfield project, with the decision to locate the project on a site with existing production facilities and activities, the selection of the site has been made. For a greenfield project, important economic and logistical considerations include proximity to primary and secondary resources and/or to the market, infrastructure, and access to energy and water. National and regional aspects, including the social license to operate, can be decisive in final site selection. Key to recruiting and retaining a labour force are proximity to urban areas, along with weather and health conditions at the site. Risk factors include site geotechnical parameters and topography, contamination, as well as probability and types of potential natural disasters.

Jan 1, 2015

By R. K. Rajamani

Discrete Element Method simulation of charge motion in ball, SAG and autogenous mills has become a standard for design of mill internals, power draft evaluation, etc. Both two-dimensional and three-dimensional codes are being used. The two-dimensional code dominates the user market since the code completes a simulation in one or two hours. On the other hand, three-dimensional codes have been in the domain of specialists who can handle the complexity of the code and have access to parallel computing hardware. For the first time, this barrier is overcome via computing with graphic processing units (GPU). Commodity graphics cards now allow parallel computation with hundreds of processors. It is shown that the computational time has been reduced by a factor of fifty using GPU computing. Hence, SAG charge simulation results in three dimensions are achievable in a few hours using affordable desktop machines. The GPU computing shown here enables the three dimensional simulation into a manageable daily task for mill designers and researchers. On the technical side, the simulations can be elevated to a higher level of complexity to simulate breakage and transport. First, the speedup factor of fifty is established for the Nvidia GeForce GTX 580 graphics card. Next, four simulation tasks, consisting of AG, SAG and ball mills are reported. The simulation of AG and SAG mills are completed in less than 8 hours. The ball mill simulation with 1.25 million spheres is completed in 27 hours. In the near future, as the graphic card hardware advances the compute time can be halved.

Jan 1, 2012

By T. Shellhammer, A. Park

Among all pure metals, copper has the second highest thermal and electrical conductivity, next to silver. These properties coupled with a reasonable cost, make copper ideal for use in metallurgical vessels as a conductor of electrical current, as well as a lining material and protector of refractories and steel superstructures. Treatments of copper to address it’s softness and low melting point, specifically hard surfacing and calorizing, will be discussed. This paper will cover the evolution of copper to its current form, offer comparisons to other materials, and theoretical and empirical evidence on its superior performance in metallurgical vessels such as blast furnaces, basic oxygen converters and electric arc furnaces. Some case studies will be provided and finally a brief summary.

Jan 1, 2015

By I. S. Thompson

"The discovery of low-grade copper-silver mineralization near the town of Tipperary, Ireland, by Gortdrum Mines Limited was the result of reconnaissance geological and geochemical exploration followed by target delineation from induced polarization surveys.Initially, orientation studies at the Tynagh lead-zinc orebody showed that such deposits could be readily detected in stream sediments and soils using cold extraction analysis for total heavy metals. Numerous areas showing stratigraphical and structural similarities to Tynagh were then selected for reconnaissance geochemical prospecting.The Gortdrum deposit was detectable through the presence of anomalous metal values in stream sediments 3,000 feet downstream; soil sampling indicated an area of 2,000 by 700 feet containing 2 Yz to 20 times background cold-extractable metal values. Induced polarization surveys defined the dimensions and attitude of mineralization.Drilling to date has outlined (under 10 to 20 feet of till) low-grade copper-silver mineralization within Lower Carboniferous limestones and shales which have been faulted against Devonian sandstone. Mineralization ex-tends from surface to depths of 250 to 450 feet and consists of bornite-chalcocite-tetrahedrite and some chalcopy-rite in altered limestones and intrusive dikes.The deposit is geologically analogons to the Tynagh and Silvermines orebodies, but in contrast exhibits a predom-inant structural control. Provisionally, it is postulated that mid-Carboniferous folding and faulting produced the pre-mineralization high porosity via recrystallization, shearing and brecciation. Subsequently, hydrothermal solutions from the west, with a probable eommon origin to the volcanic dikes, were introduced along the fault planes. Although syngenetic causes cannot be exempted, the field relationships favour an epigenetic origin."

Jan 1, 1967

By Pizhi Zhao, Jingwei Zhao, Zhenshan Liu, Yiheng Cao

"A new Al-Mg-Si-Zn alloy designed for automotive outer panel was trial-produced with industrial procedure. The final product shows a strong planar anisotropy. X ray diffraction analysis shows such strong anisotropy is caused by the dominating cube texture component in the final product. The reason for such high cube texture component was investigated by tracing texture evolution starting from the hot roll slab. It is found that certain cube texture components already exists in the hot rolled slab. The density of cube texture component shows as a wavy change through the following1st cold rolling, inter-annealing, 2ndcold rolling and solution treatment. This study shows that the cold rolling in the laboratory can well represent the texture evolution during the industrial production. The results obtained by lab rolling hints that change of second cold rolling reduction has weak effect on the planar anisotropy, when the gauge of hot rolled slab and final sheet are fixed.INTRODUCTIONWith the rapid progress of light-weighting in the automotive industry, aluminum sheets get more and more application as closure panel and structure parts. Recently the dominating alloy for outer panel is 6xxx series, containing the main alloy elements Mg and Si. The popular gradesareAA6016,AA6111, AA6022, and AA6014. These alloys still cannot satisfy the various requirements from automotive manufacturers. Most suppliers of automotive aluminum sheets are developing their own specific grades according to the customer’s demand. To increase the baking response, anew Al-Mg-Si-Zn alloy was designed, concerning the high combination energy between Zn solutes and vacancies formed during the quenching stage of automotive sheet manufacture. This combination is helpful to the precipitation of ß”phase during the paint baking (Wang, 2015,2016; Yan, 2014).The plastic strain ratio (r value)is a key index of the formability of automotive body sheet. A high r value means a good formability. The r values in different directions can be used to evaluate the planar anisotropy of the metal sheets. The trial produced Al-Mg-Si-Zn sheet shows a strong planar anisotropy with respect to r values. Since the r value is tightly related with texture, the texture evolution from hot roll slab (HRS) to final T4P temper was analyzed with X ray diffraction (XRD) to find the reason for the high anisotropy. Besides, the cold rolling reduction (CRR) was varied in the laboratory to modify the texture distribution, i.e., the planar anisotropy."

Jan 1, 2018

By D. Haraguchi, S. Izawa, C. Tokoro, S. Owada

"Arsenic is widely known as a toxic element for humans, animals and plants. Because of more stringent wastewater standards not only in Japan but also around the world, research for appropriate and efficient treatment method for arsenic is becoming increasingly important. Coprecipitation or adsorption process using ferrihydrite is widely implemented for dilute As(V) removal from wastewater. In this study, the sorption mechanism of dilute As(V) with ferrihydrite in coprecipitation or adsorption process was investigated. To accomplish this, we conducted batch experiments of coprecipitation or adsorption and compared these results for sorption isotherm and zeta potential. These experimental results showed that sorption mechanism in coprecipitation process depends on the initial As/Fe molar ratio; simple twodimensional adsorption onto the surface of ferrihydrite when the initial As/Fe molar ratio was < 0.4, and some three-dimensional uptake with ferrihydrite when it was = 0.4. We also evaluated the sorption mechanim by analysis of X-ray diffraction (XRD) and X-ray Absorption Fine Structure (XAFS). XRD or XAFS spectra showed that surface precipitation of amorphous ferric arsenate was formed when the initial as/Fe molar ratio was = 0.4, beyond the thermodynamic bulk precipitation range for ferric arsenate.INTRODUCTIONArsenic is toxic to animals, including humans, and long-term exposure to arsenic via drinkingwater causes cancer of the skin, lungs, urinary bladder, and kidneys, as well as other effects on the skin such as changes in pigmentation and thickening (Ghosha et al., 2008). Elevated levels of arsenic are often present in the environment as a result of the weathering and dissolution of minerals as well as in response to numerous anthropogenic sources including the discharge of mine wastes, coal fly ash and the use of pesticides that contain arsenic (Nriagu, 1994; Singh et al., 2007). Indeed, the potential for arsenic exposure affects many people, as evidenced by several million people in Bangladesh and India being at risk of exposure via drinking water obtained from contaminated groundwater sources (Ahmed, 2001).Acid mine drainage (AMD) containing arsenic is a global environmental problem (Dold, 2008; Liang and Thomson, 2008) that also affects Japan, which has many abandoned or closed mines that have been generating AMD for the last few decades (Masuda et al., 2008). Several such facilities in Japan produce AMD containing dilute concentrations of arsenic that exceed Japanese effluent standards (0.1 mg/dm3) (METI, 2006). For example, AMD from the abandoned Horobetsu sulfur mine, the largest AMD source in Japan, contains approximately 10 mg/dm3 arsenic."

Jan 1, 2012

By R. S. Douglas

THE Granby Consolidated Mining, Smelting and Power Company, Limited, is engaged in the mining and concentrating of copper ores, and, incidentally, in the mining of coal and the production of electric power. The Company has been engaged in these various operations both on the mainland of British Columbia and on Vancouver island for the past forty-five years. This paper will attempt to cover their present operations in the Similkameen mining district of southern interior British Columbia. GENERAL CHARACTER OF THE DISTRICT The Interior Plateau in southern British Columbia ranges in elevation from 3,000 feet to 6,000 feet. In the vicinity of Princet0n, a depression in the Plateau forms a well defined basin which is floored with a series of nearly flat-lying Tertiary sediments containing some workable seams of lignite. From this basin, the upland surface rises gradually t0ward the south, from an elevation of 2,000 feet at Princet0n to 4,000 feet at Copper mountain, and 6,000 feet in the upper parts of the Similkameen basin, where it merges into the rugged and diversified t0pography of the Cascade system, with glacier inhabited peaks rising to over 9,000 feet. The valleys of Similkameen river and its tributaries are wide, having flaring sides and gentle slopes, and are separated one from another by subdued rounded spurs, of which Copper mountain is typical. The drainage of this district is taken care of by Similkameen river and its larger tributaries, such as Pasayten river, and Wolfe, Friday, and Whipsaw creeks. The name Copper mountain is applied to a gently arched, nearly flat-topped spur between the deep valley of Similkameen river to the west and the shallower valley of Wolfe creek tO the east. The mountain is appro-priately named from the number of copper deposits occurring on its sides and summit, some of which have been developed int0 an important producer, known as the Copper Mountain mine.

Jan 1, 1943

By Staff

"The Weyburn Oil Field, located 80 miles southeast of Regina, Saskatchewan, was discovered by Central-Del Rio Oils Limited, in January, 1955. As of January 1st, 1959, the field had 357 wells capable of producing an estimated total of 45,100 barrels of oil per day.Highly portable, economical, drilling rigs are used to penetrate the pay at a depth of 4,400 to 5,100 feet. Presently, the complete drilling operation for an average field well, including drilling, coring, testing, and running casing, requires 12 days. Drilling procedures are conventional for a field of this depth and no serious problems exist. Central-Del Rio core the productive section of all their wells, which provides valuable information for well completions and reservoir studies. Production casing procedure is to set through the zone and perforate the productive inter-val. This was found advisable due to the lensing nature of the porosity and permeability throughout the reservoir, and to the high connate water saturation encountered in the tighter sections of the reservoir in the north and northeast areas of the field.Although a few wells in the field have produced naturally by flowing or pumping without acid treatment, it has generally been necessary to acidize the wells to make them commercial producers. To date, acid treatments appear to effect better stimulation of the limestone reservoir than fracturing treatments. Perforation sealing balls have been used as an aid in selectively treating all of the perforated interval.The majority of the field is on pump, producing at a low gas-oil ratio. The main part of the field has water-free production, with most of the water being produced in the north and northeastern area. Salt-water disposal is now available in the field through two disposal wells completed in the Basal Blairmore sand.The Midale Beds ""Marly"" and ""Vuggy"" zones form the principal reservoir, which is a stratigraphic trap, with the north and northeast edges terminated by a porosity and permeability pinch-out and the south-west and west edges bounded by water-laden porosity. There is no evidence to date of a gas cap. The reservoir apparently is producing on a fluid-expansion-type mechanism. The increasing water production in wells on the southwest and west edges of the field indicated water encroachment from these directions, and suggests some recovery energy may be available from this source.The total probable ultimate remaining recoverable reserves have been estimated at° 332,469,000 barrels of oil. Markets have not been able to keep up with the rate of development of the medium crude re-serves. However, it is felt strongly that substantial additional markets for Weyburn medium crude will be developed by the producers in the near future at realistic wellhead prices."

Jan 1, 1959

By Z. Yang, M. J. Collins, N. E. Tuffrey, R. J. Kalanchey, I. M. Masters

The high elevation of China Western Mining Company (WMC)&apos; s Ganhe refinery, and the high iron content of concentrates produced by the WMC mines, were key factors in the selection of pressure leaching by WMC for their new zinc refinery. This paper describes the results of pressure leaching test work conducted by Sherritt in Fort Saskatchewan with a sample of WMC concentrate from Qinghai Province in China. Results from batch pressure leach tests and a four-day pilot plant campaign are reported. The pilot plant campaign included continuous operation of a two-stage pressure leach circuit, as well as neutralization and iron removal steps, resulting in the production of iron-free zinc sulphate solution. Greater than 98% zinc extraction was achieved in pressure leaching, while producing solution containing about 9 g/L H2SO4 and 2 g/L Fe. Following neutralization and iron removal, the solution contained about 170 g/L Zn and less than 10 mg/L Fe. Overall recovery of sulphur in the zinc concentrate feed to elemental sulphur byproduct was about 85%, while 75 to 80% of the indium in the feed was recoverable from the neutralization residue. The test results highlighted the technical and economic advantages offered by the Sherritt Zinc Pressure Leach Process and provided the required data for the engineering design.

Jan 1, 2008

By Paul M. Clifford, David M. Baird

The Great Northern Peninsula of Newfoundland consists of a Precambrian core of gneisses and granitic rocks, cut by numerous diabase dykes. This complex is surrounded by an envelope of sedimentary rocks of Cambrian to Carboniferous age. Radiometric dates from two granite masses in the core give a mini-mum age of -945 m.y. (Grenville) for the last major tectonic activity. This Grenville deformation conferred upon the core substantially its present structure which has controlled later events to a marked degree. Block movements of the core, dominantly in a vertical sense, have ex-posed it to erosion at intervals. The nature and distribution of the flanking sedimentary rocks and the present relief of the peninsula suggest four such movements. THE Great Northern Peninsula extends some 150 miles north-northeast from the northwest corner of the main body of the island of Newfoundland. It separates the Gulf of St. Lawrence from the Atlantic Ocean, except for the 12 mile wide

Jan 1, 1962

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