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By Richard Dahl, Richard P. Taylor, David H. Watkinson

"Abstract - Detailed mapping of the Eastern Gabbro, Coldwell Complex, Ontario, revealed that the copper and platinum-group-element deposit on the Marathon property is confined to a coarsegrained to pegmatitic gabbro-diorite intrusion, the Two Duck Lake intrusion (TDLI). Exposed along the eastern boundary of the Coldwell Complex, the TDLI was emplaced as a sill whose orientation is slightly oblique to the general structure of the Eastern Gabbro. The TDLI has been subdivided into lower, middle and upper sub-units on the bases of lithological, textural, mineralogical, and geochemical criteria. Both border sub-units are sulfide-, base- and precious metal-enriched, and exhibit abundant evidence of host-rock assimilation. The primary mineral assemblage in the TDLI is plagioclase, olivine, clinopyroxene, Fe-Ti oxides, with accessory orthopyroxene, biotite, apatite; this primary mineral assemblage is essentially preserved in the core of the intrusion (i.e., the middle subunit). The Cu-PGE Marathon deposit, delineated mainly in the upper sub-unit of the intrusion, consists of disseminated Fe-Cu-Ni sulfides, and platinum-group-minerals derived by hydrothermal remobilization from primary magmatic sulfides. Enrichment in Cu and PGE resulted from partial replacement of original Fe-Ti oxides and pyrrhotite in the primary mineral assemblage by reaction with (a) residual magmatic fluid, and (b) fluids derived from the breakdown of host rock xenoliths and hydrothermal alteration along the lower contact of the TDLI. Résumé - La cartographie détaillée de l’Eastern Gabbro, Complexe Coldwell, en Ontario, révèle que le gisement de cuivre et éléments du groupe du platine de Marathon est confiné à une intrusion gabbro-dioritique, de grain grossier à pegmatitique, l’intrusion Two Duck Lake (TDLI). Cette intrusion s’est mise en place sous la forme d’un filon-couche légèrement discordant sur la structure de la bordure orientale de l’Eastern Gabbro. On y distingue trois sous-unités, inférieure, centrale et supérieure, sur la base de zonations lithologique, minéralogique et géochimique. Les sous-unités marginales sont enrichies en sulfures, métaux usuels et précieux, et montrent de nombreux indices d’assimilation des roches hôtes. La paragenèse minérale primaire inclut le plagioclase, l’olivine, le clinopyroxène, les oxydes ferro-titanés et accessoirement et localement, l’orthopyroxène, la biotite et l’apatite : cet assemblage est surtout préservé au coeur de l’intrusion (sous-unité centrale). Le gisement de Cu-EGP de Marathon, situé principalement dans la sous-unité supérieure, comprend une minéralisation disséminées à sulfures de fer, cuivre, nickel, et minéraux du groupe du platine, dérivés de sulfures magmatiques primaires par remobilisation hydrothermale. L’enrichissement en Cu et EGP résulte du remplacement d’oxydes ferro-titanés primaires par réaction avec des fluides tardi-magmatiques, et des fluides assimilés le long de la bordure inférieure de l’intrusion, dérivés de la fusion partielle des xénolites et de remobilisations hydrothermales."

Jan 1, 2001

By O. A. Carson

"IntroductionTHE ZINC-BASE die casting alloys in common usage contain approximately 4 per cent aluminum as the major alloy element. In addition, they contain about 0.05 per cent Mg .and may• have a small amount .of copper. These are usually the only •elements intentionally present.Small amounts of some impurities have been shown to have a deleterious effect on the properties of these alloys and therefore the impurities are kept low by starting with '99.99%' zinc.The reasons for holding the aluminum content at 4 per cent are not clear. Some statements appear in the literature that higher aluminum increases the brittleness, but probably the chief reason was the relative price of zinc and of aluminum when 4% alloys became firmly established. At that time, aluminum was three to four times the price •of zinc on a weight •basis. Recent prices, roughly equivalent per lb., make aluminum considerably cheaper than zinc on a volume basis and suggest that increased aluminum content would result in a decrease in the cost per piece due to the lower density of the alloy.Little information could be found in the literature and, therefore, it was decided to determine some physical properties of the higher aluminum zinc-base alloys made from high-purity zinc."

Jan 1, 1953

By Kevan Ford, Getulio Junior, Rob Henderson, Wayne Philips, Chris Martin, Rob Thorpe

"Plant 2 at the Kinross Paracatu gold operation in Minas Gerais State, Brazil, was commissioned in late 2008. Designed to be the largest tonnage, lowest grade gold milling operation in the world, Plant 2’s throughput has steadily increased towards its design capacity of 5087 tons per hour.The plant employs a gold-specific flotation scheme to recover the majority of gold, which is present as discrete free gold particles. Additional gold is recovered by jigs in the grinding circuit, and the jig concentrates are reground, upgraded and subjected to intensive cyanide leaching. The flotation cleaner concentrate is reground and leached using a conventional CIL circuit.One year after start-up, with the plant stabilizing operationally, plant circuit surveys were completed by a joint team from Kinross Paracatu and Blue Coast Metallurgy Ltd. The surveys audited the flotation and concentrate treatment circuits to investigate the metallurgical performance.This paper describes the Plant 2 operation and how the surveys were designed and executed. Some of the quality control systems that were employed to provide meaningful data from such a low grade gold ore are described and findings and actions taken to improve metallurgy as a consequence of the surveys are discussed.INTRODUCTIONThe Paracatu mine is located two kilometres north of the city of Paracatu, in the north western portion of the state of Minas Gerais, Brazil, 230 km southeast of the national capital Brasília (shown in Figure 1). The present day Paracatu mining operation, fully owned by Kinross Gold, through its Brazilian subsidiary Rio Paracatu Mineração (RPM) is designed to be the largest tonnage, lowest grade free milling gold operation in the world.The deposit currently hosts some 1.2 billion tonnes of ore at a grade of ~0.41 g/t gold, hence contains a total gold reserve of over 20 million ounces. At a designed plant throughput rate of 61 Mt/year the mine life goes beyond 2030."

Jan 1, 2011

By Ernest Davis

WATER power, until developed, produces nothing, but when harnessed it continues to produce, it might be said, indefinitely. Hence the importance of developing all feasible water powers. British Columbia, like the western states of America, is subject to variable meteorological conditions which cause most streams to be erratic in their flow. The wet season, usually commencing in October and continuing to March or April, together with the melting of the snows during the early summer, produces a heavy run-off which diminishes considerably during the later s1.1,mmer months, with the result that storage is essential on practically every stream in order to regulate the flow to obtain a discharge which will meet the requirements of the load of the markets the power is to serve. Storage sites of sufficient capacity to equate the flows are not always present and it follows that, where such a deficiency exists, the difference must usually be met by burning fuel in steam plants. Fortunately, there are within the Province deposits of high-grade coal, suitable for the operation of such auxiliary steam plants. One of the strongest reasons for the development of water powers is the conservation of fuel. All use of coal or oil depletes resources that can never be renewed. Every water power developed means a saving in fuel and, even if at first it does not possess an over-powering financial advantage, it must become of ever increasing value as fuel resources become depleted. However, sight must not be lost of the inter-relation which should exist between the two methods of generating electrical energy, as each makes an admirable supplement to the? other with respect to suitability for carrying different types of load. In general, it can be said that the fixed charges of a water power development are usually high in relation to the operation costs, while those of fuel power plants are usually the reverse, so it is sometimes possible to combine the two methods of generation for the more efficient production of energy.

Jan 1, 1942

On the 26th of June 2000 a hydraulic fill retaining barricade failed at the Bronzewing mine in Western Australia. The barricade failure resulted in the release of 19,000 m3 of saturated hydraulic fill into the mine and caused the deaths of three miners. Following this tragic accident, the practices and procedures of mines using hydraulic fills came under intense scrutiny by regulatory bodies and mining companies. At this time, the use of hydraulic fill at Normandy?s zinc/copper Scuddles mine was suspended and waste rock became the sole backfill material in use underground. By 2003, development of the adjacent Gossan Hill mine had progressed to a point where a self supporting fill material was required to enable full recovery of high grade ore. Cemented hydraulic fill (CHF) was identified as the optimal fill type and work began on designing appropriate management procedures and controls to ensure the safe implementation. This work included definition of the fill properties, plant design and construction, reticulation system design, design of stope barricades and drainage systems and fill placement control and monitoring practices. CHF placement began on 16th July 2004 and has continued to date. Significant operational experience has since been gained in areas including plant performance, fill product quality assurance, barricade construction, stope drainage and in-situ performance.

May 1, 2007

By M. C. Villeneuve

A numerical modelling approach was developed to explicitly simulate geomechanical characteristics of intact rock: mineralogy, grain size and fabric. The approach involved creating a representative constitutive model for each of three common rock-forming minerals: mica, quartz and feldspar. The constitutive models developed are valid within the low confinement realm of excavation boundaries, where tensile fracture processes dominate. The mineral types were assigned to numerical elements, which were associated with each other through an algorithm created in a finite difference model, FLAC 2D (Itasca 2007a), to simulate real crystal geometries and orientations. The numerical models were used in a parametric investigation of the geomechanical characteristics and compared with published observations of the rock yielding process in laboratory testing. This approach has allowed the explicit grain-scale investigation of the impact of geomechanical characteristics on rock yielding at low confinement, leading to an improved mechanistic understanding of excavation-scale rock yielding processes at excavation boundaries.

May 1, 2009

By J. A. Meech, G. R. Baiden

"A dynamic simulation of a mine-mill complex has been conducted using networked microcomputers (IBM PC/AT and IBM PC/XT). These models allow simultaneous operation of an open pit using shovels and trucks, a primary crusher, and a secondary crushing plant. Each process transmits information via the network, linking all operations together. The effects of blasting, ore quality, equipment utilization and configuration on productivity can be studied either interactively or from a report listing at the end of each shift. Programs are menu driven leading the user through the decisions required in day to day operations. The mine-mill simulator is currently being used as a teaching tool at Queen's University to provide senior mining and mineral processing engineering students with an experience and appreciation for the operating problems across the mine-mill interface. The need for coordination and close communication between the mine and mill can be aptly demonstrated using these models. The simulator could be used to contribute to the training of operating personnel in a real mining operation. INTRODUCTIONThis paper describes a computer simulator that is capable of showing the interactions and operating strategies between a mine and a secondary crushing plant. The simulator uses two models developed at Queen's University; one for open pit mining and the second for secondary crushing. PITSIM is a dynamic shovel/truck haulage model origin2lly developed by P.D.D. Chick (1) and K.G. Fytas (2) to solve shovel/truck scheduling problems. CRUSHSOFT is a dynamic secondary crushing plant model developed by R.J. Tucker (3) and C.A. Harris (4) to study alternative operating and control strategies in a crushing plant."

Jan 1, 1987

By Jodi Roberts, Curtis Deredin, Jean-Guy Paulin

"Since the establishment of the Six Sigma quality improvement program in 2001, several projects have been successfully carried out in the copper-lead, zinc, copper separation, lead upgrading and bulk flotation circuits in the Brunswick Concentrator.This paper provides an update on the process improvement initiatives that have taken place since 2004 using the Six Sigma methodology:•,The recirculation of warm water to the flotation circuit (to save on energy costs)•,Installation of a heat recovery tower to recuperate the heat lost from the zinc dryers•,Installation of an extra row of cleaner-scavenger cells for the copper-lead circuit for extra capacity, and a new reagent scheme for the copper separation circuit that have increased copper and lead recoveries.INTRODUCTIONThe Brunswick Mine Concentrator (Xstrata Zinc Canada) is located near Bathurst, New Brunswick and is one of the world’s largest lead/zinc mines. Milling of ore commenced in 1964 from the No. 12 orebody, with an expansion in 1966 to accommodate ore from the No. 6 open pit mine. The concentrator utilizes selective flotation to produce zinc, lead, copper, and bulk lead/zinc concentrates. The ore is a complex massive sulphide, consisting of approximately 20% valuable minerals, 60% pyrite and 20% silicates.Figures 1, 2, and 3 illustrate the historical annual average metallurgical performance and process improvements achieved at Brunswick Mine for the zinc, lead and copper concentrate products. The objective is to continuously direct metallurgical performance towards increasing grades and recoveries while minimizing operating costs."

Jan 1, 2008

By Sunil Koppalkar, Guillaume Noel, Ahmed Bouajila, Makni Sami, Claude Gagnon

"Gold gravity recovery circuits utilizing enhanced gravity separators have become an integral part of many of the modern gold processing plants. Thus, efforts to improve the operating efficiency have been a topic of interest for metallurgists for many years. As part of this endeavour, a methodology to estimate the portion of gold in the ore that could be recovered by gravity separation (gravity recoverable gold or GRG) was developed at McGill University. It has been reported in the literature that the gold content estimated with this methodology is the theoretical maximum that is available for gravity recovery that could only be approached but never achieved. A comparison of GRG recovery obtained in the laboratory with the actual recovery in the plant shows that plants recover between one-third to two-thirds of the value predicted by the laboratory test.Research conducted at COREM shows that particle shape transformation during grinding is a major cause of the discrepancy (even though the bleed percent processed, the quality of cyclone classification and the operating conditions of the gravity separator also contribute to the difference). To analyze the gold particle shapes and their deportment, samples were collected from different streams of a grinding-gravity circuit in a gold plant and compared to a concentrate sample from the standard GRG test. A particle characterization methodology based on gold morphology was developed. GRG mapping in a conventional grinding-gravity circuit and the transformation of GRG into non-GRG, as mainly explained by gold particle reshaping, will be discussed. The knowledge gained from the shape analysis will be used to develop shape distributions and partition curves for the classification of shapes.INTRODUCTIONGravity concentration using centrifugal concentrators has gained increasing popularity since the invention of the enhanced gravity concentrators in the nineteen eighties. Among these, the semicontinuous centrifugal gravity concentrators are most commonly used for recovering gold and platinum group minerals (PGM) from grinding circuit streams. The benefits of gold gravity recovery are now well understood and the acceptance by the mining industry is overwhelming. The occurrence of reasonable amounts of gravity recoverable gold (GRG) in an ore prompts gold mills to install gravity circuits. Thus, the increased use of gravity concentration has necessitated a better understanding of the behavior of gold in grinding circuits and of the factors affecting the performance of the gravity concentrator (Laplante et al., 1995). Due to its high density (19.3 g/cm3 when pure) and malleability properties, gold tends to accumulate in circulating streams making it attractive for gravity recovery. The gravity recovery units are typically installed on a bleed stream of the cyclone underflow, mill discharge or cyclone feed."

Jan 1, 2011

In this paper, geostatistical techniques are applied to forecast the annual copper price in the short and medium terms (from one to five years ahead). These techniques allow the incorporation of monthly and multivariate information in the analysis and provide more accurate results than traditional approaches, especially as far as the one-year forecast is concerned. A second advantage of geostatistics stems from its ability to assess the uncertainty associated with the unknown future prices, thanks to estimation variances or confidence intervals, depending on the technique used. Such an assessment has a crucial importance in decision-making, from both macroeconomic and microeconomic points of view

Sep 1, 2004

By A. Cabañas

"In this paper, geostatistical techniques are applied to forecast the annual copper price in the short and medium terms (from one to five years ahead). These techniques allow the incorporation of monthly and multivariate information in the analysis and provide more accurate results than traditional approaches, especially as far as the one-year forecast is concerned.A second advantage of geostatistics stems from its ability to assess the uncertainty associated with the unknown future prices, thanks to estimation variances or confidence intervals, depending on the technique used. Such an assessment has a crucial importance in decision-making, from both macroeconomic and microeconomic points of view. IntroductionThe copper price traded in the London Metal Exchange is a relevant parameter for defining macroeconomic policies of producing countries like Chile. It is also a key factor for the mining companies, since fluctuations in the sell price affect the expected financial flows. Due to the amount of money involved in decision-making, it is necessary to have accurate forecasts of the future copper prices and to quantify the uncertainty associated with such prices.This paper focuses on the annual copper price estimation in the short and medium terms, i.e., from one to five years into the future. Henceforth, the word “estimation” will be used as a synonym of “forecast,” according to the geostatistical jargon (Matheron, 1989).Two main approaches, based either on statistics or econometrics, are currently used to forecast commodity prices, but both of them are not very accurate when applied to copper. First, the main methods are briefly reviewed, then the geostatistical formalism will be presented. So far, the latter approach hardly has been used to estimate commodity prices, although it may reconcile both statistics and econometrics via (1) the use of a stochastic approach and (2) the handling of ancillary variables related to the copper market. Another advantage of geostatistical techniques is the ability not only to forecast the copper price, but also to measure the uncertainty associated with it."

Jan 1, 2004

By Nur Hossain

Analysis of Linear Elastic Fracture Mechanics (LEFM) parameters via the Virtual Crack Closure Technique (VCCT) has been obtained for SENT specimens of AM6OB magnesium alloy. It is found that the ratio of initial crack length to initial monotonic plastic zone size is one of the critical factors in establishing the limit of using LEFM concepts. If this ratio is below a certain limit (i.e. when crack lengths are small in comparison to the plastic zone size), loss of similitude stress intensity factor range would occur. This ratio, therefore describes the limit below which the use of LEFM would no longer be admissible. In this study, the above limit was established for AM6OB magnesium alloy. In addition, fatigue crack propagation tests were conducted to ascertain the fatigue response of the alloy and determination of the coefficients of Paris model.

Jan 1, 2010

By Andrea M. Ouchi

A major focus of ground control research presently being conducted by the Geomechanics Group in the University of British Columbia Mining Engineering Department is to incorporate weak rock masses (RMR76 less than 50) into existing empirical design relationships. An emphasis is being placed upon the updated span design curve/critical span graph originally developed at UBC. The original database has been augmented by mapping of one mine in Montana and of several mines within the Carlin and Getchell Trends of Nevada. In addition, a neural network analysis has been performed and modifications of the span design curves at the lower RMR76 range have been made. The common factor in all the above mentioned mines is a weak back and/or walls. In most cases, the ore zone is the weakest rock unit and must be dealt with to safely extract the mineral bearing rock. This work attempts to provide rock mechanic tools that will enable a mine operator to make economic decisions that will also ensure a safe working environment.

May 1, 2004

"The Detour Lake Mine is located in northeastern, Ontario, approximately 300 kilometres northest of Timmins and 185 kilometres by road northeast of Cochrane. The mill processes a free milling gold ore using both gravity circuit and leaching with a state-of-the-art carbon-in-pulp circuit. The grinding circuit is a conventional SABC circuit with a tonnage of 55,000 mtpd at 95 microns with the addition of pre-crushing upstream of the SAG mill.The present paper will describe the methodology used to successfully prove that gold of the Detour Lake Mine ore is mostly concentrated into the fine size fraction of the blasted rocks. It will describe the various options possible to create value from this ore property.IntroductionThe purpose of this test work was to determine the grade of the pebbles and consider if there was value into discarding the pebbles and replacing the material by fresh feed.1. Pebble samplingThe pebbles were sampled and assayed for grade every day for 3 months. After 3 months of sampling, the results showed that the pebbles only carried 28% of the fresh feed grade. This phenomenon can possibly be explained by the fact the gold is located into area of fracture in the rocks.January-March 2014 – Pebble assay average• Line #1 = 0.222 g. Au/t• Line#2 = 0.275 g. Au/t• Head grade = 0.88 g. Au/t2. Crushing and grinding circuit surveysWith the above information, a grinding circuit survey was planned. The purpose of the survey was to build a JKSIMMET model of the grinding circuit for mill optimization but also to understand the deportment of gold into various size fractions that may explain why there is so little gold in the pebbles. All streams and size fractions was analysed for particle size analysis and for gold.Since Detour has dual grinding lines, both circuits were sample at the end of May. Two supplemental survey of the secondary crushers were also done and a survey of the gyratory crusher."

Jan 1, 2016

By Edgar Dernedde

Cryolitic melts at a temperature of about 960 °C are used in reduction cells to dissolve alumina and to produce primary aluminium. At these temperatures cryolitic melts with an acidic composition have a significant vapour pressure, which contributes substantially to the evolution of fluorides from these cells, The Antoine equation is commonly used for relating vapour pressure data of liquids at different temperatures, It is also applicable to cryolitic melts, Published equations have at least 20 numerical constants, in order to allow for the effects of melt composition. In the present work a simplified equation with only 12 numerical constants was developed and is applicable for multiple additions to molten cryolite up to 30 wt %, The simplified equation was compared with the published equations of Haupin & Kvande and Gustaysen & Ostvold using 472 vapour pressure data of cryolitic melts. Results showed that the simplified equation has the same accuracy as the published equations in the composition range of interest to industry.

Jan 1, 2004

By Ben Bradshaw

Context ? Community engagement has become an increasingly significant and challenging part of mineral exploration and mine development; indeed, opposition from communities proximate to a proposed mine site has been known to derail technologically- and financially-sound projects. ? These cases suggest that mining firms need to better understand how to engage constructively with local communities in the pursuit of their claims. ? While a range of publications exist promoting various community engagement strategies, these recommendations, when viewed as a whole, are disjointed and largely untested in real development contexts. Aims of Presentation 1. Synthesize industry, NGO, government and academic publications focused on community engagement best practice in order to highlight those practices that are most commonly recommended. 2. Review the (Canadian) mining industry?s experience with some of these strategies based on existing case material in order to identify the extent to which commonly prescribed strategies are used and validated in practice.

May 1, 2010

A comprehensive axial test program has been undertaken at the WASM Dynamic Test Facility on the performance of 20mm threadbar. The threadbar tests had a double embedment configuration, with variation to the encapsulation lengths, debonded length and surface hardware and fixtures to examine failure mechanisms. Performance was significantly affected by the collar embedment length and type of fixture nut used. Results ranged from thread shearing occurring between the nut and bar at 1kJ of energy dissipated, to control plastic deformation of a central debonded length dissipating 22kJ.

May 1, 2009

By C. Blawert

The corrosion properties of the skin and the bulk of semi-solid processed and high pressure die cast AZ91 alloy were studied in 5% NaCI solution by (a) analysing the corrosion morphology, (b) measuring electrochemical polarization curves, (c) performing electrochemical impedance spectroscopic measurements, and (d) immersion tests at constant pH-values. Using XRD, LM, SEM and EDX to evaluate the microstructure of skin and bulk specimens, the corrosion results were related to the microstructures of the particular alloys. However, microstructure and corrosion performance were found to be similar for both production processes, and only slight but distinct differences were found. Generally, the skin corrosion properties are inferior to those of the bulk, with the exception of the high pressure die cast AZ91 alloy, where the finer microstructure of the skin layer exhibits a better performance as showed by impedance studies and confirmed in long term immersion tests.

Jan 1, 2004

By M. Kinne

Catalyst preparation/ characterization Slightly modified DP (~Schumacher et al. Catal. Lett. 89, 109, 2003) CeO2 HAS 15 from Rhodia calcined in air for~ 2h BET: ~188m2/g, particles size: 5.7nm (TEM, XRD) + HAuCl4 at pH of 6.5-7, (>95% of the Au was deposited) ? Au/CeO2 (2.6wt% Au, ICP-AES) A new conditioning procedure was applied, including heating at low temperature in N2 and H2/N2 mixtures) Patent DE 10205873A1. Very small Au particles <2nm, for CO oxidation catalyst as Au/TiO2, Au/Fe2O3, and Au/Co2O3 Here Au particles size <3.5nm (XRD) Summary ? CO is nearly exclusively adsorbed on the Au particles ? Positive reaction orders of 0.5 are found for CO and H2O ? Ea= 40kJ/mol ? The catalyst is very active and stable ? During WGS reaction huge amounts of formates are formed and cover the surface ? The activity of the catalyst seems to be correlated with the formate species.

Oct 1, 2003

By A. Vasenev

The quality and durability of asphalted roads strongly depends on the final step in the road construction process; the profiling and compaction of the fresh spread asphalt. During compaction machine operators continuously make decisions on how to proceed with the compaction accounting for project specific aspects as: ambient conditions, road geometry, roller type, asphalt mixture characteristics and behavior of other machines. In discussions over quality improvement in road construction it is often suggested to robotize rollers. To operate such robots would of course require operational strategies and routines. The reality of this moment is that these operational strategies and routines are not documented. To identify the existing best working practices and, ultimately, to proceed with developing automated robotized compactors, the knowledge of machine operators should at first be explored and described in a formalized way. Unfortunately operators have difficulty verbalizing their expertise. Observation of behavior, as machine movement patterns, could be helpful to extract the operational strategies, but such observations are time and labor consuming. To overcome this burden we developed a Virtual Reality (VR) environment. In this VR environment operators perform compaction virtually, and their operational choices are traced and analysed. This paper describes this VR development and explains how it helps in following machine operators and extracting their (tacit) professional knowledge. The road geometry and the working conditions are visually represented; the operators show - rather than explain - how they would proceed with the compaction process in the given conditions. Movements of virtual machines are documented, analysed, visualised and discussed. This VR approach is expected to contribute to learning, to more formal description of operational strategies; stepping stones towards compaction algorithms for roller robotisation.

Aug 1, 2013