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By F. Charette

The paper reviews recent investigations of the impact of corrosion on the performance of both plain and coated Swellex rock bolts. It addresses the problems associated with estimating and predicting corrosion rates of friction bolts, and based on field data it suggests an empirical relationship to predict corrosion rates. A review of the necessary qualities for a protective coating leads to recent experience with coated Swellex bolts that suggest that they can contribute to extending the useful life of Swellex bolts in potentially corrosive environments.

May 1, 2004

"Air Products approached LAC Minerals in 1987 to initiate trials with pure oxygen in the leach circuit at several LAC facilities in Canada. This paper gives an overview of oxygen use and covers specific operating data from the Doyon and Terrains Aurifères mills near Val D'Or in northwestern Quebec. LAC also uses oxygen at the Macassa mill in Kirkland Lake, Ontario.In addition to the LAC facilities, oxygen is currently in use for test purposes at the Holt McDermott mine in Kirkland Lake, Ontario and the Camflo mine near Val D'Or.There are two requirements for oxygen in the cyanide leach mill. Firstly, oxygen is required in the familiar gold dissolution reaction as follows:(1) 4 AU (s) + 8 NaCN (aq) + 02 (aq)+ 2H 20(aq) - 4NaAu(CN) 2(aq)+ 4Na OH(aq)Of the reagents on the left side of the equation, the availability of gold is fixed by the ore in question. Obviously, water is available in excess, 1eaving cyanide and oxygen as the limiting constituents in the process. Most mills operate with an excess of cyanide, which is fairly closely monitored. Dissolved oxygen levels, however, are not normally watched very closely and find their own level based on the temperature, the availability of compressed air and the ability of the ore to consume oxygen.Typical D.O. levels are in the 3-8 ppm range, however levels less than 1 ppm are not uncommon for refractory ores.With pure oxygen, dissolved oxygen levels as high as 30 ppm can be achieved. (Figure #1). This greatly accelerates the kinetics of the leach reaction and may also shift the reaction further towards completion thus increasing gold dissolution slightly."

Jan 1, 1990

By J. P. Van Cruyningen, M. J. Puro

"A 2400 acre extension to the existing Tailings Area is under development at Inco's Copper Cliff Milling operations.The new area is being developed in stages as production levels dictate thus minimizing immediate capital expenditures while permitting disposal operations to proceed as further site work progresses.The first stage of the new storage site will be fully operational by early 1987 and will include a 400 acre site specific to the storage of Pyrrhotite rejected from milling circuits. The Pyrrhotite site is located in the centre of the Tailings area and is designed for water cover throughout much of its projected life.The new development incorporates perimeter dams designed to operate with low phreatic levels for maximum structural stability. Acid seepage water is collected behind secondary impermeable dams for return to the Tailings Pond.Tailings are deposited by up-stream methods permitting segregation of coarse fractions for use in future lifts of the perimeter dams."

Jan 1, 1987

By Casey Erickson

Goldstrike Property ??Located in Elko, NV USA?Carlin Trend ??Mining Since 1985 ??27 Million Ounces of Gold Mined ??Production of 400,000 tons/day ??1,600 Employees

May 1, 2011

By Brian A. Ferguson, Raynald O. Vezina, Marielle Gaudet, Raoul R. Boissonneault

"Kiena has been committed to developing a fresh management and employee relations approach since the commencement of production in 1981. The functional organizational structure encourages joint participation and commitment on the part of all employees to common goals in safety and production. The results over the last four years have been extraordinary. Kiena won the John T. Ryan Canada Trophy for 1983 for its safety record and has experienced a steadily increasing productivity through the application of new mining equipment and technology in the hands of a well-trained and motivated team of employees.This paper serves to highlight the fact that productivity, safetyand technical innovation are closely linked to employee participationand involvement which are likely to be the key to theCanadian mining industry's survival in the years ahead.This presentation follows up on an earlier unpublished paper, given at the 84th Annual Meeting of CIM in Quebec City in April, 1982, which discussed the philosophy and the planning which took place before implementation of the management and employee relations system at Kiena. This present paper reviews and expands on material given in the earlier work. IntroductionThe mining industry, which has always been considered as rather conservative in its approach, has experienced with some regularity, cyclical periods related to metal prices. These cycles, previously foreseeable to some extent have become less coherent over recent years during which time the industry has had to face fierce international competition. The issue to productivity is without doubt the major concern of the mining industry in Canada today and it represents the greatest challenge facing us during the present decade. Developments that have been made in mining technology over the precious two decades have failed to completely produce the significant advancements in higher over-all productivity that were expected."

Jan 1, 1987

By Richard P. Reiff

"The Facility for Accelerated Service Testing (FAST) program has been involved in numerous rail wear tests since its inception in 1976. A number of specialized tools have been developed to aid in assessing specific performance parameters including gauge face wear, head height loss, metal flow, head area loss, hardness, and welded rail end batter. The layout of a test site, including position in curve, number of measurements per rail, and train operation must be properly controlled/monitored to provide valid wear comparisons.This paper will provide an overview of the above-mentioned tools and techniques. In addition, a summary of recent test results from FAST, including information on head hardened rail investigations, will be provided. A set of guidelines for establishing a revenue service field test site will also be provided to aid users in performing evaluations of their own.IntroductionBackground of Rail Wear Testing at FASTThe Facility for Accelerated Service Testing (FAST) located at the Transportation Test Center, (TIC), Pueblo, Colorado has been involved with testing of rail since program initiation in 1976. A huge data base of rail wear information has been gathered from FAST operations under a variety of rail metallurgies, lubrication conditions, and measurement techniques. Attempts at obtaining meaningful rail wear information from early (1976-1978) FAST rail wear data was hampered by two main factors: (I) measurement techniques were insufficiently accurate for the amounts of wear being experienced, and (2) the lubrication was not sufficiently controlled to obtain uniform conditions for a sufficient measurement time period.Subsequent test periods were operated with improved measurement techniques and controls that ensured statistically valid data. The policies and conditions that permit accurate rail wear assessment will be reviewed and outlined in this paper, along with some specific TIC and field examples that will allow the user to improve the accuracy of a field rail test on their own operating property."

Jan 1, 1988

By Anil K. Beersing

Effective drainage systems are required for reclamation of mine-disturbed areas to control surface water runoff and avoid excessive erosion. For the conventional structural design approach, armouring material necessary to satisfy the design criteria should not move during the design flood event since displacement would uncover the erodible underlying materials. This paper discusses an alternative geomorphic approach for designing drainage channels and watershed landscape. The approach is based on quantitative studies of geomorphic processes operating in a watershed. A design based on the geomorphic approach replicates the configuration, channel regime, sediment volume and hydrology of natural and mature drainage systems. Movement of some armouring material is acceptable in such an approach because the channels are allowed to mature by natural degradation and aggradation, with erosion rates comparable to the natural environment. The key advantages of a geomorphic approach over a purely structural approach include reduced sizes of armouring material, geomorphologically sustainable landscapes, ?walk-away? or maintenance-free design and reduced liability in the future. The geomorphic approach is illustrated using the example of a coal mining operation in northwest U.S.A. The paper discusses field data collection, design criteria, typical design details, and construction methods.

Apr 1, 2005

By D. Bois, P. Keating, J. Lemieux, M. A. Vallée, M. Allard, R. S. Smith, L. Z. Cheng, M. Chouteau, K. Fountain

"A comparison of data from INPUT, GEOTEM, and MEGATEM airborne electromagnetic (AEM) systems over the Aldermac deposit, Québec, Canada, was undertaken to evaluate the relative ef¬ficiency of these systems for the detection of small, deep conductors. The Aldermac orebody was mined between 1933 and 1934 to a depth of 200 m. A deeper mineralized zone was discovered in 1987. The MEGATEMII system was used to acquire 90- and 30-Hz data over the deposit in 2003 as part of a research project. These MEGATEMII data were compared with data acquired by other AEM systems (GEOTEM and INPUT), and the results show that the MEGATEMII response is ten times larger than the other sys¬tems. For the dB/dt response, 30 Hz gives a better signal-to-noise ratio, whereas 90 Hz has a better signal-to-noise ratio on the B-field.The data were evaluated by numerical modeling. The deposit was best represented by a complex mod¬el, comprising two weakly conductive bodies to approximate the alteration halo, two deeper prisms repre¬senting known orebodies, and three bodies ranging in thickness from 3 to 6 m and in resistivity from 12 to 20 ohm·m, representing the chargeable overburden. This implies that the MEGATEMII system is able to see a small conductive body at more than 200 m depth in an area where the response is contaminated by conductive overburden."

Jan 1, 2009

By J. Ling, L. Racine, P. Cousin, A. R. Laplante

"The problem of gold recovery by gravity from high density gangues is first discussed from a fundamental perspective. Three potential difficulties are presented: poor liberation and fine gold particle size, concentrate bed erosion by coarse dense particles, and slow percolation of gold particle through the high density gangue bed. Two case studies are presented to illustrate the impact of these three problems on circuit performance and the feasibility of gravity recovery. It is concluded that careful testing can determine the scope of the first problem and feed preparation can limit the extent of the second. The third problem is clearly the most serious and results in lower gravity recoverable gold recoveries than would be achieved with the same recovery effort on a low density gangue application.IntroductionSince the commercialisation of the Knelson Concentrator in 1980, gold gravity recovery has experienced a surge in interest, in Canada and the United States first, then Australia, Zimbabwe and Russia, and finally worldwide. Table I details number of units sold in various countries, which corresponds approximately to their importance as gold producers 1. Exceptions. such as the low rank of South Africa or the importance of Zimbabwe, despite the much higher gold throughput of the former, are generally the result of differences in the effectiveness of the local marketing strategies, as well as a reflection of the ""philosophy of recovery"" prevalent in the country.The impact of the Knelson has not been felt equally in all plants. Typically, a highly successful application falls into the following categories: (a) alluvial or hard rock recovery for which gravity is the sole recovery method, (b) hard-rock free gold milling with ores which have a very high gravity-recoverable gold (GRG) content, (c) low grade sulphide copper-gold ores which include flotation ahead of cyanidation and (d) free-milling gold ores ahead of Other applications can be successful, but are not as common. The ""explosion"" of centrifuge concentration, of which the Knelson is the most successful but by no means the sole model, has created a certain euphoria which can be summarized as ""gravity recovery will improve the profitability of gold milling, no matter what."" This presentation is about applications that are not so successful, or even downright unsuccessful. The rationale is not to down-play gold gravity recovery, but to set it in its rightful position: metallurgically, it is not appropriate all of the times; it can become inappropriate if poorly designed; and it can be metallurgically possible but economically unjustifiable. In this paper, this will be illustrated and explained rather than demonstrated, with the use of both industrial plant surveys and laboratory test work. Alternate gravity approaches will be suggested."

Jan 1, 1997

By Charles "Chick" Rodgers

"The Key Lake uranium mine is the largest single uranium producer in the world. It is owned 2/3 by Cameco Corporation and 1/3 by Uranerz Exploration and Mining. Cameco is the operator. Current production is fourteen million pounds per year of uranium oxide (U308).The mine's location is 570 kilometres north of Saskatoon on the southern edge of the Athabasca Basin approximately at latitude 57° 11 'north and longitude 105° 34' west. Access to the mine is by an all-weather road and a private airstrip.The mill was commissioned in 1983. A molybdenum plant was constructed in 1989 in response to increasing molybdenum content in the yellowcake or final product. Early test work had showed that the first ore body to be mined, the Gaertner deposit, would present few problems with regards to molybdenum in the product. However, the test work also showed that the higher molybdenum content of the Deilmann ore, the second Key Lake orebody to be mined, would result in increased molybdenum concentrations. Without the molybdenum plant, penalties would become excessive and some product might not accepted by the refineries.This paper will describe the current Key Lake mill process with emphasis on the molybdenum solvent extraction process. It will cover the chemistry of the process, process development in the mid 1980's, and current operating practices.The Key Lake milling process consists of five individual plants, crushing and grinding, leaching -counter current decantation (CCD), solvent extraction, yellowcake/crystallization and bulk neutralization (Figure 1. Simplified Mill Flowsheet). A detailed mill flowsheet can be found in the appendix."

Jan 1, 1996

By P. H. Reynolds, S. Liaghat, A. Zarasvandi

"Darreh-Zerreshk and Ali-Abad are two relatively small porphyry copper-type deposits in Yazd Province in central Iran. They are located within the central Iranian volcano-plutonic belt, formed above the collisional convergent margin of the Iranian lithospheric plate from the late Eocene to the Miocene. This paper discusses the geochemical characteristics of the igneous rocks, and 40Ar/39Ar geochronology of plutons and alteration phases associated with the Darreh-Zerreshk and Ali-Abad deposits. The deposits are spatially associated with igneous complexes that consist of older and barren granites intruded by intermediate-composition granitoids, which are the carriers of Cu mineralization. The granites have relatively high content of Nb, Y, and K, a prominent negative Eu anomaly, and were probably derived from melting of, or contamination of mantle-derived magmas by, continental crust. Porphyritic diorites, quartz monzodiorites, and granodiorites show enrichment in light rare earth and large-ion lithophile elements, depletion in middle rare earth elements, and have no negative Eu anomaly. These intermediate-composition granitoids were derived from melting of the upper mantle or lower crust, and their differentiation was controlled partly by fractionation of hornblende. A pilot K/Ar whole-rock dating study suggests that the pre-ore granites were emplaced in the Oligocene. Dating by the 40Ar/39Ar method of nine samples of secondary biotite and sericitized rocks from drillcore within the mineralized and altered zones in both deposits yielded a well-defined age of ca. 16 Ma. This date is interpreted to be the time of hydrothermal alteration and of porphyry copper type mineralization in this part of Iran."

Jan 1, 2007

By H. Ito, T. Takasu

Effects of a mechnochemical treatment to oxide Ni ores have been investigated to enhance the extractive ratio of Ni from them in acid leaching process. High intensity grinding by a planetary boll mill showed strong effect to enhance the extractive ratio of Ni, for example , 10% of extractive ratio of Ni in sulfuric acid leaching(0.05mo1/1,at room temperature) increased to more than 90% with 60min. of planetary boll milling. Effects of additives(sulfur and some oxidants) on the mechnochemical treatment have also studied. Sulfur showed almost no effect to enhance the total Ni extractive ratio but increases the selectivity of Ni extraction. More than a half of Ni could be extracted by water when Ni ore was grinded at addition of Na2S207 in the milling treatment. Some effects of mechnocemical treatments to Ni ore are summarized in this paper.

Jan 1, 2005

By M. Mirnezami, D. Lascelles, J. A. Finch, E. El-Ammouri

"In a previous publication, the depressant action of Mg above pH 10 on Cu-activated sphalerite was described (Lascelles et al., 2001). In the present communication, a second role, aggregation is introduced.Aggregation (i.e., the tendency of particles to cluster) is measured using settling rate and turbidity converted to an aggregation index (AI) where 0 corresponds to dispersed and 1 to aggregated. Surveys of Cu and Zn flotation stages at four concentrators showed the A1 increased significantly above pH 9. The metal ions identified in the process waters, principally Ca and Mg, were tested to determine which might be responsible. The presence of Mg was found to be the most important, 50 ppm Mg having a greater impact than 500 ppm Ca fkom pH 9 to 1 1. In one plant, poor repeatability in A1 was suspected to be related to varying Mg levels; doping with Mg significantly increased AI.In both aggregation and depression, therefore, the common feature is the impact of Mg at pH > 9. Over this pH range Mg forms a range of hydroxy species, including Mg(OH)2 precipitates. Suggested aggregation and depression mechanisms associated with these precipitates are introduced. Possible problems and opportunities arising from the findings are discussed.INTRODUCTIONProcess waters in flotation circuits contain a variety of metal ions that may introduce unwanted activation or depression. Two common metal ions are calcium and magnesium. Typical concentrations are in the range 50 ppm Mg and 500 ppm Ca (Marticorena et al., 1994, Basilio et al., 1996, Negeri et al., 1997, Nesset et al., 1998)."

Jan 1, 2002

By J. D. T. Steyl, C. A. Biley

"The chemistry of electrolyte systems containing iron remains generally poorly understood despite their prevalence in many natural and industrial processes, particularly in hydrometallurgy. These systems are typically challenging to study and model due to their affinity for complex formation and precipitation even at low pH. Recent developments in the hydrometallurgical processing of nickel laterites at Anglo American have called for a deeper understanding of the fundamental chemistry of the Fe2(SO4)3–FeSO4–H2SO4–H2O system. This paper details the development of an internally consistent, Pitzer ion-interaction model of this system, with explicit recognition of important contact ion pairs (CIPs). The primary application of this model is a thermodynamic framework for the interpretation of kinetic processes occurring during iron(III) reduction with SO2. Adopting a rigorous thermodynamic basis for the system chemistry facilitates the formulation of simple rate expressions that are capable of inherently capturing complex effects. While the iron(III) reduction case study remains the focus of this work, the developments have more universal applications and the thermodynamic speciation model can be extended into other systems containing acidic ferric sulfate.INTRODUCTIONIron is present in nearly all hydrometallurgical refining circuits typically as both a necessary and unwanted impurity and needs to be removed and disposed in a safe and efficient manner. This is generally performed by precipitation to form a range of solids such as hematite, goethite or jarosite. Numerous studies in the open literature have focussed on the removal of iron from refractory gold sulfide ore (Berezowsky & Weir, 1989; Berezowsky et al., 1991) and zinc pressure leaching (Buban, 1999; Ismael, 2003), and PGM matte sulfide circuits (Dutrizac & Monhemius, 1986). Moreover, since ferric iron is a strong oxidizing agent, it has been used extensively as a leaching agent for sulfide minerals (Dreisinger, 2006). Given the outlook of challenging economic conditions, declining ore grades and increasing levels of impurities, effective iron management is going to become increasingly critical to all hydrometallurgical processes.Against this background, and considering the widespread importance of acidic iron sulfate systems throughout natural and industrial processes, it is unexpected that the knowledge of the fundamental solution chemistry of these systems contains such significant gaps, particularly at the conditions typically found in hydrometallurgical applications. Existing literature describing the measurement and modelling of solution speciation in these systems have highlighted their significant chemical complexity (Magini & Caminiti, 1977; Magini, 1979; Lee & Tavlarides, 1985; Stipp, 1990; Papangelakis et al., 1994; Gil et al., 1995; Majzlan & Myneni, 2005; Kormanyos et al., 2008; Yue et al., 2014). Partially responsible for the lack of quantitative speciation measurements is the strong tendency of ferric to hydrolyse at even low pH (Flynn, 1984), complicating the laboratory study of such systems. Moreover, the large number of aqueous species that may co-exist simultaneously makes the study of individual species and the modelling of the numerous interactions between these species extremely difficult (Dry & Bryson, 1988; Stipp, 1990; Majzlan & Myeni, 2005; Kobylin et al., 2007)."

Jan 1, 2016

By R. Simkus, J. K. Gowans

Polaris Operations, a Cominco Ltd. lead-zinc mine, is located on Little Cornwallis Island, Northwest Territories, at Latitude 75°23' N and Longitude 96°75' w. When the Polaris Mine went into operation in late 1981, it became the world's most northerly base metal mine.The Polaris Concentrator, housed in a unique process barge, is a basic lead-zinc concentrator where flotation is used to produce the lead and zinc concentrates.The paper describes the ""coarse lead"" flotation feature incorporated in the concentrator flowsheet and describes the start-up problems and continuing operation of this circuit.

Jan 1, 1984

By S. A. Scott

In 1913, potash mineralization was recognized at a depth of over 7,000 feet in an oil-well hole (Norcanol's Radville No. 1 well) drilled near the town of Raddlle, Saskatchewan. Although, at this depth, potash is not considered mineable by conventional underground mining methods, this discovery shed the first light on the potash deposits of Saskatchewan in much the same manner as oil-well drilling was responsible for the first discovery of potash in the Carlsbad Basin of New Mexico in 19:25. The discovery near Radville alerted the oil-well geologists and, as a result potash mineralization was recognized in the Verbata No. 2 well, near Unity, Saskatchewan, in 1946. The mineralization, which was at a depth ?of 3,466 feet, graded more than 20 per cent K20 over a thickness of eleven feet. This discovery, as its depth, thickness and grade were all amenable to mining,

Jan 1, 1963

By Nicholas Macrae Steven

Abstract - The Shaba-type Luamata Cu-Co(-Ni) deposit (11°50_S, 24°28_E) is located in a tectonic slice of Katangan Roan Supergroup (Mines Group) sedimentary rocks, surrounded by younger Kundelungu Supergroup lithologies in the external fold and thrust belt of the Lufilian Arc. Luamata is a classic central African copper clearing in dense woodland, visible as a tonal botanical anomaly on Landsat imagery. Supergene Cu-Co mineralization (especially malachite and subordinate chalcocite, digenite, covellite, and copper and cobalt oxides) and, probably hypogene, bornite, and chalcopyrite are hosted by altered, but essentially unmetamorphosed, moderately dipping, dolostones and dolomitic shales. Alteration products include talcose dolomite, sericite rocks and intense silicification and brecciation. Friable yellow shale is best mineralized with cobalt (up to 0.43 wt%), whereas, highest copper grades occur in brecciated, silicified shale (up to 13.5 wt% CuO). Soil copper and cobalt contents are up to 2.2 and 0.6 wt%, respectively. A newly identified nickel zone (where soil contents exceed 0.1 wt% Ni) fringes the Cu-Co deposit. Polymictic, matrix-supported breccias with a calcareous matrix that underlie the Cu-Co deposit are interpreted to be fluidization breccias related to thrust tectonics and the emplacement of the Mines Group slice. Although small compared to the Kolwezi district Shaba deposits in the Democratic Republic of the Congo, Luamata exhibits all the classic features of an ore deposit type (with low calcite contents), whose high metal concentrations could potentially be very profitably exploited by low-cost opencast mining and hydrometallurgical recovery methods.

Jan 1, 2000

By Ning Shi

This paper suggests an alternative design approach for an innovative shovel dipper, for use in ground conditions where cutting of virgin ground rather than scooping of blasted material is required. Not only does the new design have an optimized dimension ratio (width:height:depth) and attachment arrangement (angle, position), but also a non-linear pro¯le in 2D and 3D. The approach is based on the simulation of a shovel's duty cycle to verify a pilot dipper model. In order to achieve a realistic simulation that could be used to evaluate a dipper design, the model is e®ectively a descriptor of actual shovel activity under soft ground conditions. The shovel geometry, motion and operation, with an emphasis on digging and dumping kinematics and dynamics are the principal elements of the simulation. The simulation considers a fresh face location, repeating tucking, digging and dumping swing motions within the geometric range of the machine, ending when no more face material remaining within reach without re- positioning. The simulation yields digging force, friction force, trajectory, ¯ll time, ¯ll factor, etc, which may be integrated into two basic considerations: power draw (output) and volume delivered (production), as indicators of dipper performance. The simulation has been used as a tool to modify an existing dipper design, prior to looping further simulation cycles. Ultimately, an optimized or totally-new-concept shape is realized. A prototype dipper as a fractional scale model will be built to verity the performance under actual mining conditions.

May 1, 2004

By G. I. Mathieu, R. W. Bruce

Flotation schemes for the separation of molybdenite from other minerals are based on utilizing the Inherent hydrophobicity of molygdenite (Fuerstenau1). This natural floatability was attributed to the crystalline structure of molybdenite by Gaudin et al.2 who suggested that any surface formed by the rupture of van der Wall's bonds should be hydrophobic and, therefore, naturally floatable. Other authors argued that "natural floatability" is dependent of adsorption of hydrocarbon ions and/or molecu1es on the surface of the minerals. This theory, albeit-c questioned 1,2 has long been recognized in actual practice of molybdenite flotation as the latter in carried out with hydrocarbons, such as fuel oil, kerosene and stove oil. Although conferring ready floatability to molybdenite, these presents generally have little effect on other sulphides and silicates. However, talc is a noteworthy exception because of its innate floatability4. Not withstanding the reason for this behavior which has also been attributed to crystal structure2 its end results as in the case of molybdenite is an immediate flotation response to frothing oils arid kerosene, as was observed by Baranovski5, Sutherland and Wark6.

Jan 1, 1974

By T. Norvell, R. Gosine, S. O’Young

"This paper describes the use of dynamic scheduling and discrete event control to provide coordinated control of multiple automated vehicles. This work has been carried out within ongoing research into multi-robot coordination developed around the underground mining scenario. Demonstrations using scaled laboratory models of underground mines illustrate the potential for this technology for full-scale implementation for mine-wide automation. IntroductionIn the past decade, the mining industry has been improving the efficiency of underground mining operations. Robotics and automation have demonstrated the potential to further reduce costs. Tele-operation of underground vehicles from above ground and autonomous navigation have reduced travel delays and allowed for single operator control of multiple vehicles (Bloomquist and Hinton, 2001). Other recent projects include the automation of the digging process as well as the drilling and blasting operations. Infrastructureless guidance systems are also being developed (Bloomquist and Hinton, 2001).Mine-wide automation requires significant developments at two levels: (1) the development of mining robots capable of performing tasks either autonomously or semiautonomously; and (2) the development of methods for automating operations at a systems level. This paper focusses on the latter, and describes a general framework for the coordination of multiple mobile robots in an unstructured or semi-structured environment."

Jan 1, 2003