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By G. Zeng

Although the solubility of oxygen in zinc electrolyte is less than 9 mg/L, the effect on deposit stability and zinc-dust consumption can be significant. Sodium sulfite is used to deoxygenate the electrolyte. The effect of the sodium-sulfite concentration on cobalt removal is investigated. The results show the reduction of sulfite to elemental sulfur that adhered to the zinc dust surface forming a passivating layer, and small amounts of sodium sulfite have no effect on cobalt removal. The optimum amount of sodium sulfite is 100 mg/L. It is an important consideration in purification circuits to use sodium sulfite as an additive to cobalt cementation.

Jan 1, 2005

By H. Sipilä, H. Vartiainen, H. Paarma

"The carbonatite massif of Sokli includes several low-grade Nb showings composed of ores and wastes as identified by routine analyses. More detailed lithologic proportions were determined in two orebodies in the Kaulusrova Nb-mineralized area by a careful geological study and by thorium radiation measurement on 10 cm-long drill core cuttings with a total length of 460 metres. The distribution of Nb in eight X-ray spectrometrically analyzed drill core sample intervals (totalling 35.8 m) was determined by analyzing the intervals semi-continuously by an X -MET analyzer. The geological studies suggest that Nb-mineralized bodies are feasible fo r the sorting of are and waste. This was confirmed by the semi-continuous determination of Nb on the X-MET analyzer.IntroductionThe Sokli carbonatite complex is located in eastern Finnish Lapland. The main ore of the carbonatite massif is a regolithic phosphorus ore in the weathered crust. Large-scale geophysical measurements and diamond drillings have also established several niobium showings within the magmatic carbonatites. Owing to the complicated geology of the massif, the niobium showings occur as irregular zones o r areas displaying complicated structure, texture, mineralogy and geochemistry (Vartiainen and Paarma , 1979; Vartiainen , 1980). The tonnages in areas such as this are large but the grades in-situ are low . The most intensely studied niobium showing is the Kaulusrova area.The exploitation of these showings depends on the feasibility of applying a sorting technique to upgrade the feed and to minimize the amount of material to be treated in the concentration plant. These possibilities o n the Kaulusrova area have been viewed by a detailed geological and X-MET an analyzing study."

Jan 1, 1985

By J. A. Eisele, D. L. Pool

"The Bureau of Mines has developed a particle agglomeration technique to improve the flow of leaching solution through heaps of low-grade gold-silver ores which contain clays. Benchscale experiments and industrial practice have shown that the percolation rate of cyanide leaching solution is greatly enhanced by mixing the ore with Portland cement as a binder, moistening the mixture, mechanically tumbling to form agglomerates, and aging before heap building and leaching. A slight modification ofthe technique allows its application to precious-metal-bearing tailings, which cannot normally be treated by heap leaching because they are too fine. IntroductionMany low-grade gold and silver deposits and tailing materials from former mining operations in the western United States are potential sources for precious metals. These sources are too low grade or too small to support the capital cost of a conventional cyanidation plant but have stimulated the development of lowcost procedures, such as extraction of the precious metals by heap leaching with cyanide. The Bureau of Mines has investigated methods to improve the recovery ofgold and silver by heap leaching these low-grade materials.For heap leaching to be successful, the crushed and stacked ore must have good permeability so that uniform distribution of the cyanide leaching solution through the heaps can be achieved. Some of the most difficult gold and silver ores to treat by heap leaching are those containing excessive amounts of clays, or fines generated during crushing. Excessive amounts of slimes, generally minus 50-micrometre or 270-mesh Tyler sieve size particles, in the heap feed will slow the percolation of the leaching solution, cause channelling, or produce dormant or unleached areas within the heap, resulting in long leaching periods and low extractions. In extreme cases, the clays or slimes can seal the heap and cause the leaching solution to run off the sides of the heap rather than through it."

Jan 1, 1987

By Sylvain Castonguay, Sylvain Pilon

"Operator competency is an important factor in the safe and successful operation of today’s complex processes. Competent process unit operators deliver superior performance and results. In greenfield projects, operator competency is particularly critical, as the lack of specific operations experience must be offset with proven practical knowledge and skills to avoid mistakes that can cost millions in terms of start-up delays, production losses and equipment damage. It is, therefore, important to know precisely what competencies are required for a project or site, and what any gaps in operator competency need to be addressed and improved. The success of plant commissioning, start-up and sustainable operations is directly tied to operator competency. The significant investments required for new projects, the exploitation of more challenging ore bodies, and the increasing complexity of plant operations have placed renewed emphasis on the need for competent operators. Furthermore, many large capital projects are being developed in remote regions, often with ties to the delivery of social benefits for the local population in terms of jobs, training and other development opportunities. While automation and processing technologies have helped do more with less, indicators now point to a bottleneck in human performance limiting operational results.Automation industry development in managing abnormal situations, including solutions for simulation and operator training, has produced applications to provide customized and flexible training methods. This paper will discuss tools to automate the operator competency process in order to guide trainers to effectively teach, measure, control, provide feedback, and monitor operator skills. Today’s competency management solutions can be effectively applied throughout the course of an operator’s professional life, as a guide to hiring new operators, for developing competencies to support operations, and also to develop and refine best practices and share lessons learned."

Jan 1, 2016

By D. B. Langford, R. Hart

"This paper presents an overview of the state-of-the-art in industrial and utility power metering and control systems with particular emphasis on Digital Power Meters and Power Demand Controllers.IntroductionModern micro-processor technology, combined with very fast, high accuracy analog to digital converters, is rapidly allowing economical, digital power instrumentation systems to replace the traditional electro-mechanical meters and equipment previously used for instrumentation, control and protection in industrial power systems. Consequently, instrumentation and Supervisory, Control and Data Acquisition (SCADA) systems that were only practical for the very large utility or user are now available to smaller utilities and users. The information available includes sequence of event recording, trend logging, energy management cost allocation and automated load control, among others. The heart of any power monitoring system is the Digital Instrumentation Package (DIP) . These ""DIP's"" include Digital Power Meters (DPM's) and Power Demand Controllers (PDC's) as well as other specialized instrumentation packages such as Mini RTU's."

Jan 1, 1991

By R. del Villar, A. R. Laplante

"This article presents four grinding simulation programs, written in Applesoft BASIC. The firs t two calculate residence time distributions (RT Ds) for open and closed loops mills. The third program calculates the select ion functions from the RTD, breakage function and particle size distribution (PSD) o f the feed and discharge. Two linear regression programs are also included to calculate the breakage function. These results are used in the fourth program to simulate continuous or batch grinding kinetics.The modelling approach presented is the size discrete, time continuous matrix formulation presented by Reid (1965) from concepts originally proposed by Epstein (1948). It is at the present time the most widely accepted phenomenological model of grinding kinetics and is standard textbook material (Austin et 01., 1982; Kelly and Spottiswood, 1982, p. 152). The concepts of RTDs and tracer testing originated from chemical engineering theory and practice, and are well presented in Leven spiel (2n d Ed . 1972 , Ch. 9) .Applesoft* was chosen because it is compatible with many micro computers. It is also one of the simplest and least powerful BASIC versions. Thus it can easily be adapted to other more complex BASIC versions.Open Loop Residence Time Distributions (Program RTDOPEN)As mixing, channelling, stagnation and short-circuiting all affect slurry motion in tumbling mills, transport characteristics are very complex an d cannot be derived from fundamental principles. Fortunately , as grinding follows first order kinetics, transport characteristics for the purpose of grinding simulation ca n be represented by the RTD of the slurry phase . It is normally determined using liquid tracers, as it has been demonstrated and is commonly accepted that in industrial ball mill s, the RTD of the so lid phase is particle size independent and equal to that of the liquid phase."

Jan 1, 1985

"In the past year, mining at the Doyon Mine has shifted entirely from open pit to underground. The mine produced 234 692 ounces of gold in 1989 and is expected to produce 225000 ounces in 1990. The Doyon Mill has been running slightly above design capacity, and recovery has increased 3%.IntroductionThe Doyon Mine is located 25 miles east of Rouyn-Noranda, Quebec (Figure I).It is a joint venture owned by Lac Minerals and Cambior, with each holding a 50% interest. Lac Minerals operates the mine under the direction of a management committee.Production at the Doyon Mine began in 1980 with the start up of the Main Zone pit. Shortly thereafter the Doyon Mine became the largest open pit gold producer in Canada.In 1983, a ramp leading to the fourth level and exploration drifts were driven. Results were very encouraging, therefore the decision was made to sink a 2150-foot deep shaft, which was completed in 1986.In mid-1986, production began in the West pit, while underground mining of the West Zone started shortly thereafter, at the end of the same year.In 1987 the mill capacity was increased to 3300 tons per day and the Main Zone underground operations commenced."

Jan 1, 1990

By J. L. Blaylock

Normally, the hydraulic system and structures are considered to be unrelated items. In reality, the two cannot be separated because one affects and depends on the other to function properly. This paper explores the potential failure areas of hydraulic cylinders, and suggests possible methods to prevent failures from occurring. The use of high-strength low-alloy steel in frames is reviewed and the benefits discussed. Fabrication techniques and handling of material are noted in the hope that this knowledge will aid in the repair of frames in the field.

Jan 1, 1979

By Norman Lecuyer, Jacque Nantel

"The Chadbourne Project, located within the limits of the town of Noranda, Quebec, will make use of backfill materials to fill the voids left by the mining of stopes and pillars. A series of tests were conducted on different mixtures of slag and pyrrhotite tailings materials to evaluate their properties. The tests are described and some pertinent results are given in the paper.IntroductionThe Chadbourne Project is located in the centre of the Town of Noranda, Quebec, with houses as close as 120 m from the blasting operations. The ore is mined using the vertical crater retreat method. The voids left by mining activities will be filled. A program of pillar recovery will follow.Considering the proximity of houses and the need to recover pillars, the backfill program must be carefully laid out. No subsidence can be tolerated on surface.With these objectives in mind, a test program was undertaken by Nantar Engineering Limited and Queen's University to evaluate the possible ba ckfilling alternatives available to Chadbourne. One of the possibilities retained was the use of a backfill composed of broken slag material from the Horne Smelter and pyrrhotite tailings deposited on the Horne's pond a number of years previously.The back fill used at the Horne Mine until the mine closed in 1975 was composed of a mixture of 97% granulated slag and 3% pyrrhotite tailings. The tests leading to its use underground at the Horne Mine were described by Patton in 1952. The structural properties of the Horne backfill were ""intuitively"" known; it was agreed by all at the Horne Mine that the backfill was behaving remarkably well. Some were labeling it ""the best backfilling material in the world"". Its strength was said to be that of a weak concrete. All of the preceding indicate that the Horne backfill had never had its structural and other properties determined in the laboratory."

Jan 1, 1983

By Roger C. Parsons

"The problems presented by ice formation and interference with processes, structures and mechanical operations in the mining industry can be expected to increase sharply as more of our mineraI needs are supplied from the far north. A process of rapid ice destruction is presented which lends itself to the effective removal or penetration of ice. Suggestions are offered for applying the system to problems related to mining activity in cold environments. The system can be readily adapted to large-scale operation, the reactant components being transported in crystalline form and volatilized on site.IntroductionThe number of operational mines in northern environments, relative to the number of mines in the temperate zone, will increase in the years ahead. This is not surprising, because:(a) in the past, those mines closest to centres of commerce had minimum transport charges and hence were more economic to develop;(b) great centres of commerce were far removed from northern environments;(c) the exhaustion of ores and lowering of grades in temperate zones now offset to some degree the extra transport costs applied to northern ores;(d) the abundance of excess energy in the north in the form of oil, gas and hydropower attracts mining as a means to justify its development; (e) assuming that the frequency of mineral occurrence north of the 52° N latitude is no different than south of it, there are many deposits waiting to be developed.As a result of current and projected activity in northern environments, we are faced today, and will be increasingly so in the future, with mining problems rarely encountered before-problems related to below-freezing temperatures. Engineering activity in permafrost regions will increase as new mining ventures are developed north of the 52° N latitude, roughly coinciding with the -1.1 ° C isotherm in Labrador, the upper temperature boundary for permafrost."

Jan 1, 1982

By B. M. Das, D. B. Cross

"In June 1983, the Computer Applications and Process Control Committee (CAPC) of the Canadian Institute of Mining and Metallurgy (CIM) circulated a questionnaire to coal mining, exploration and consulting companies in Canada to determine the industry's level of interest in holding a workshop-style meeting to introduce company personnel to ""state-of-the-art "" computer systems designed to carry out specific technical and management junctions. It was necessary to conduct the survey to determine the specific fields of application and the nature of training which are of most interest.Almost universally, the companies expressed interest in computer workshops and training for applications in the Canadian coal industry. The survey showed that all categories of personnel felt the need for some sort of training. Areas of specific interest identified were: exploration and geology, mine design, reserve calculations, coal mining technology, coal preparation, rock mechanics, ventilation, financial planning, and process simulation. The details of this survey together with an assessment of the significance of computer applications in the Canadian coal industry are presented in this paper."

Jan 1, 1986

By V. G. Minenko, A. L. Samusev

For efficient leaching of gold from sulfide ores and the oxidation of sulfides into sulfates, it is necessary to introduce a substantial amount of oxidant - atomic oxygen, hydrogen peroxide, ozone, potassium or sodium hypochlorite. In this paper, hypochlorite electrochemical treatment is proposed as an effective method of intensification of refractory ore leaching. The objective of the study is to increase the gold recovery from refractory ores with the application of chlorinated solutions that are modified by chemical or electrochemical treatment. The advantages of the use of the modified chlorinated solutions instead of cyanide for gold-sulfide leaching are considered to be the following: a high concentration of the oxidizing agent (hypochlorite ions) in solution helps to achieve a high speed of gold dissolution in the form of chloride complexes; the possibility to produce hydrochloric acid solutions that may be used for the recovering gold by electrolysis; the possibility of the processing of carbonaceous, arsenic-bearing and others kinds of refractory gold ores. The mechanism of the interaction of the modified chlorine solutions with gold-bearing sulfides (pyrite and arsenopyrite) was investigated. The efficiency of the application of chemical and electrochemical leaching method was proved. The main factor that limits the rate of gold dissolution is a high concentration of sulfate ions (SO4 2-) formed in the solution by the oxidation of sulfide minerals. The optimal parameters of chemical and electrochemical leaching method and effective ways to remove sulfate ions were determined. The method helps to increase the level of the gold recovery up to 87% from refractory ores. The intensification of leaching by chemical and electrochemical treatment opens up opportunities for the creation of modern efficient and environmentally-friendly technologies that may be applied for gold extraction from refractory gold ores.

Jan 1, 2016

"The gravimetric dust sampler is one of the tools now available to the industrial hygienists for determining the worker 's exposure to the numerous types of particulate matter that may be present in the workplace. The paper ' reviews the different sampling trains that can be used for the two major criteria for respirable dust and some of the sources of error in this dust assessment technique.IntroductionIt may be stated simply that the measurement of airborne dust in the working environment is done for one or two reasons: namely, for engineering control purposes and! or to evaluate the potential for toxicological insult arising from the inhalation of dust particles.This paper reviews the progress made in the development of dust-assessing instruments, particularly the gravimetric types designed to meet British and U.S. dust criteria , and discusses the limitations in their use for this purpose."

Jan 1, 1981

By Bertrand Wolfman, William E. Stanley

"This paper reviews the traditional mine accounting systems, including ""custodial accounting"" and unit costing, and then suggests that the use of flexible budgets represents a more suitable method of reporting costs in order to assist the mine manager in improving productivity. Examples of various applications are given to show that the result is a clear reporting structure.Custodial Accounting is Emphasized in Traditional SystemsTraditional mine accounting has been mainly concerned with the accuracy of financial reporting to ""head office"" for the use of the directors and the company's bankers and shareholders. This is often called custodial accounting and it represented the main purpose of accounting when first developed in Europe hundreds of years ago. This important development permitted the establishment of enterprises which were separated from their owners because they could rely on accurate financial reports of management's stewardship.As custodial accounting is fairly broad and historical in nature, it is often not very useful to the mine manager for ongoing monitoring of performance of mining, milling, maintenance, and other support and staff groups. In spite of the considerable investment in accounting staff and computer support, many accounting systems have not been upgraded so that they accurately reflect workplace performance on a weekly or monthly basis.Budgets are Often FixedMany mines today also still emphasize fixed budgets. Thus, the mine plan which is set in the fall of one year is converted to a monthly tonnage and detailed dollar budget for periods of up to sixteen months in the future. The only certainty in this plan is that actual events will differ; timing, mix of mining methods and production volumes will differ on a monthly basis.Unfortunately, the fixed budget has no capability to reflect these operational changes. It is frozen for the full year. The result is that actual results will inevitably be compared to an outdated target."

Jan 1, 1982

By Charles A. Schacht

"Relining, lining maintenance, and ladle repair can represent a significant cost in steelmaking. Therefore, the objective of all steelmaking shops is to minimize this cost and to maximize the lining life. However, the thermomechanical behaviour of the ladle lining is highly complicated and sometimes misunderstood. The ladle design also has a significant influence on lining life. Other factors which have a direct influence on lining life are the shop lining installation practices and manner in which the ladle is used. The objective of this paper is to provide an understanding of the impact of these factors as related to improving the integrity of the lining and increasing lining life.Fundamentals of Steelmaking Ladle Lining Expansion ForcesNumerous studies have been conducted by the author on steelmaking ladles with molten metal capacities ranging from 110 ton s to 350 tons. The steelmaking ladle typically has a sidewall plate with a slight taper and for analytical purposes can be classified as a cylindrical vessel.A typical ladle is described in Figure I. The ladle sidewall lining usually consists of a working lining and a safety lining. Although the type of refractory used in the working lining varies based on the type of steel produced and other metallurgical requirements, the refractories typically used are: 70% alumina brick; direct bond mag-chrome brick; resin bond dolomite brick; and direct bond dolomite brick. Fireclay brick, high alumina brick, or a similar strength brick is used as the safety lining.Normally, the ladle lining is exposed to a through-thickness temperature gradient and restrained by the ladle sidewall plate, is described in Figure 2. The hot face side of the refractory lining develops a compressive thermal force and the ladle sidewall plate develops an equilibrating tensile force. The radial joints open on the cold side of the working lining as the lining joints have little or no tensile strength. A radial compressive load (P) develops between the working lining and the vessel shell due to the thermal restraint imposed on the lining by the shell. The radial compressive load is transferred from the working lining through the safety lining onto the ladle sidewall. Therefore, the safety lining must have the strength to accommodate the radial compressive load (P)."

Jan 1, 1991

By Euler M. De Souza

"This paper presents a study developed to assess the potential use of salt tailings as backfill to control surface subsidence and as a mine bulkhead used to isolate areas of potential brine inflows. A series of index tests, centrifuge model tests and quasi-static creep consolidation tests were performed to evaluate the creep and consolidation properties of salt backfl1l and to evaluate the effect of brine inflow and brine infiltration on backfill behaviour. The centrifuge models were specifically designed to study the mechanical behaviour of salt backfill under the influence of brine inflow and long-term creep. Test results indicated that salt tailings could be applied underground as a bulkhead to seal off areas of potential inflow with the additional advantage of controlling room closure and local back instability. It is hoped that this study will assist mine planners to develop contingency plans to control brine inflow occurrences. IntroductionThe use of salt tailings as backfill is a technique that would assist in the control of potential brine inflows and surface subsidence, and would have a very positive impact on the long term adverse environmental effects associated with surface salt tailings disposal. A centrifuge testing program was designed to evaluate the behaviour of salt tailings as backfill; the effectiveness of salt backfill as a bulkhead used to isolate areas of potential brine inflow and the potential use of salt backfill to control surface subsidence. The testing program was also used to evaluate the creep-consolidation properties of salt backfill and to evaluate the effect of brine inflow and brine infiltration on backfill behaviour. This paper presents the results of the experimental centrifuge testing program and a comparison of results with models tested under I g using an electrohydraulic servo-controlled loading frame (MTS) and a creep consolidation cell. Applicability of the results to practical underground soft rock mining is also discussed.The centrifuge model tests indicated that salt tailings could be applied underground as bulkheads to seal off areas of potential inflow with the additional advantage of controlling room closure and local back instability. Because the applied stresses (1.2 MPa) and fill consolidation were relatively low, the centrifuge simulated bulkhead did not retain all of the inflow brine. At typical field stresses it is expected that the fill would be able to seal off panels with brine inflows. Further testing at higher stresses are suggested to determine the consolidation and stress levels at which the fill would completely retain any potential brine inflow head and positively act as mine bulkhead."

Jan 1, 1994

By Jan Drzymala, Przemyslaw B. Kowalczuk

Froth flotation is widely used for upgrading of ores and other materials. Efficiency of flotation depends on many parameters, including type, chemical structure and dose of flotation reagents. Selection of a proper frother in flotation depends on the material used, necessary dose of frother and its selectivity. The selectivity of flotation can be characterized by proper separation factors and indices. In this paper separation selectivity and power of frothers were evaluated basing on separation data for a given material and frother, plotted as the recovery of the useful component in the concentrate versus the recovery of the remaining components in the tailing. Such a plot is called the Fuerstenau upgrading curve. The selectivity was defined as the location of the whole upgrading curve in relation to no and ideal separation lines, expressed on the scale from 50 (no separation) to 100% (ideal separation). In turn, the flotation power was defined as the dose of frother to reach a certain upgrading level at which recoveries of the useful and unwanted components are equal. The power and selectivity of frothers were determined for the Kupferschiefer stratiform copper ore floated in the presence of a fixed amount of xanthate and varying doses of frothers using a laboratory flotation machine. Basing on the separation results for different poly(propylene glycol) (CnH2n+1O(C3H6O)mH, CnPm) and poly(ethylene glycol) (CnH2n+1O(C2H4O)mH, CnEm) alkyl ethers, it was found that the concentrate yield and recovery of copper as the useful component in the concentrate were greatly influenced by the type and dose of frother. However, the same results plotted in the form of the Fuerstenau upgrading curve clearly indicated that the selectivity of frothers was similar, while their power was different. It proves that both selectivity and power of frothers are useful parameters for characterizing flotation systems.

Jan 1, 2016

By A. Dahi Taleghani, A. Shojaei

Continuum damage mechanics (CDM) of rocks is studied together with their elastic and plastic behaviors to develop simulation tools for hydraulic fracturing jobs in naturally fractured formations. The model is constituted based upon pressure sensitive inelastic deformation of porous rocks and their damage mechanisms in the cases of drained and undrained conditions. The CDM model is formulated within Fracture mechanics framework. The performance of the developed elastoplastic and CDM models are compared with the available test data of a specific shale play. The hydraulic fractures growth in the reservoir scale is then simulated; in which the effect of fluid viscosity, natural fractures characteristics and differential stresses on induced fracture network is studied. The simulation results are compared with the available solutions in the literature. The developed CDM model outperforms the traditional fracture mechanics approaches by removing stress singularities at the fracture tips and simulation of progressive fractures without any essential need for remeshing.

Jan 1, 2015

By S. Gheibi, H. S. B. Duzgun, N. Dadashzadeh

It is widely recognized that there are various uncertainties in the analysis of rock slope stability owing to inadequate information for site characterization and inherent variability and measurement errors in geological and corresponding parameters. Therefore, reliability-based approaches that allow the systematic and quantitative treatment of these uncertainties have become a topic of increasing interest in rock slope engineering. There has been extensive reliability analysis of rock slope stability in the literature. However, all of these analyses are based on the First-Order Reliability Method (FORM). The probability of failure of a rock slope in the First-Order Reliability Method is provided by a linear approximation of the failure function. The FORM is most commonly used because it is efficient; its accuracy, however, deteriorates when the nonlinearity of limit-state function increases. A better approximation of the failure function can establish a more accurate value of the probability of failure. The Second-Order Reliability Method (SORM) overcomes this drawback with a cost of lower efficiency in terms of the number of function calls and computation expenses. Despite considerable studies of the application of the SORM in other engineering fields, a few attempts have been made in the slope stability studies. In this study, a recently published Second-Order Reliability Method with First-Order Efficiency (SORM-FOE) is implemented on a selected rock slope in Amasya, Turkey. The SORM-FOE overcomes the low efficiency of the SORM by decreasing the number of function calls. The probability of failure of both FORM and SORM-FOE are obtained and the results are compared. It is shown that, in high value of failure probability, SORM’s do not significantly affect the analysis and design. However, in very low failure probability, the discrepancy between FORM and SORM-FOE becomes pronounced. It is also shown that, where the second order methods are required, the SORM-FOE is more efficient than the conventional curvature fitting methods in terms of computational costs.

Jan 1, 2015

By Gary M. Bone

The autonomous control of vehicles interacting forcibly with their environment, such as dozers and tractors, is an unsolved and challenging problem. Forces and motions are inherently coupled between the tool and the means of vehicle propulsion. Furthermore, they are often operated within uncertain and unstructured environments, such as those encountered in underground mining. There is a growing industrial interest in the development of robotic vehicles to improve productivity, efficiency and safety in mining and construction. This paper focuses on the modeling and control of autonomous robotic dozing for a material removal operation. A dozing process model has been developed based on observations of both a fullscale dozer and a scaled-down version. The model characterizes the dynamic interactions between the blade position, material accumulation on the blade, material distribution in the environment, and the motions of the dozer. The dozing control objective is to remove the loose material as rapidly as possible by driving forwards at full power while automatically raising/lowering the blade in response to sensor measurements. Two different controllers were developed to meet this objective. The first controller is based on a set of heuristic rules, and the second is an optimal controller based on the dynamic model. An instrumented scaled-down robotic dozer and dozing environment, designed to emulate the full-scale operation, are used to implement the controllers and compare their performances over multiple dozing passes. Experimental results are presented showing that the model-based controller increased the material removal rate by 33% compared to the rule-based controller. Lastly, technologies for full-scale implementation are discussed, followed by proposed future work and conclusions.

Aug 1, 2013