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By R. A. Sudisman, T. Yamabe, M. Osada

"Geological material can be subjected to some different loading conditions, mainly due to three inter-related physical processes which are mechanical, thermal, and hydrological. Freezing and thawing process of rock that occurs in sub-zero temperature condition may contain some or all those three physical processes depended on its initial condition. Those inter-related physical processes may lead the ground into failures. Therefore, understanding the physical properties such as deformation process of geological material under freezing and thawing condition is required for the artificial ground freezing projects and engineering construction activity in the natural cold region.In order to study the strain characteristic of rocks during freezing and thawing process, a series of freezing and thawing experiments of core samples of three different rock types and mortar has been conducted under varying temperature from -20 °C to +20 °C. Four core sample types are Sandstone, Granite, Tuff, and Mortar with 50 mm diameter and 50 mm height, which were naturally dried before the freezing-thawing experiment. Freezing-thawing experiment was conducted by submerging the vinyl covered core samples into a temperature-controlled liquid coolant box. Firstly, temperature of liquid (brine solution) was set at -20 °C so that the temperature of subjected sample was decreasing to as low as -20 °C. And then the temperature of brine was returning to initial room temperature after the coolant system was stopped. Strain gauge and thermo couple were attached on the core’s perimeter to measure strains and temperature changes.Sandstone and Mortar samples show relatively similar results than other two samples. Both presents linearly shrink with the temperature decrease and expand almost to its initial condition with the temperature increase. Granite shows less-linear strain-temperature relationship during thawing process, while the Tuff sample shows abrupt strain increase during thawing process on the temperature higher than +10 °C. Thermal expansion value of each rock types were obtained by fitting the major strain-temperature relationship on -19 °C to +10 °C temperature range. Overall, anisotropic deformation was observed on the entire samples and possible mechanisms for each hysteresis characteristic are discussed, which need to be confirmed by further experiments."

Jan 1, 2015

By S. N. Yu

Tele-operation manipulators applied in this paper are systems for the remote handling and management of pyroprocessing related facilities in an Argon cell of the KAERI (Korea Atomic Energy Research Institute). Generally, these kinds of systems are composed of a master-slave system and its peripherals installed along the wall of the cell, with the master transmitting the user?s own motion to the gripper directly. This study introduced various considerations and modifications to improve the remote handling performance. The analysis of an operator's ability using his/her own upper arm motion range while manipulating the MSM, and considerations of its manipulation margin and the related tool modifications are also included. Finally, the test results of several remote handling tasks are presented, and an adequate operation strategy for the tele-operation system of hot-cell type facilities is proposed.

Aug 1, 2013

By S. Makni, G. Gagnon, F. Couët, C. Rochefort

"Comminution represents a significant part of mineral processing plant operating costs. Yet, autogenous (AG) or semi-autogenous grinding mills (SAG) are difficult to control because of disturbances like feed size distribution and rock hardness. AMIRA, within project GeMIII, developed a comminution index from laboratory crusher data. The index correlated with the Bond ball mill work index and with the A×b parameter. The present work extends the use of crusher data as a grindability indicator to real-time industrial applications. The aim is to improve comminution operation using online hardness estimation. Because the operational work index is proportional to the ore work index, rock hardness variations can be estimated from the feed and product size distributions, the throughput, and the power draw of a crusher. Real-time estimation of rock hardness can help understand the dynamic behavior of AG and SAG mills. Multivariate time series were analyzed to understand the impact of hardness on a SAG operation. Results showed that the estimated hardness influences the SAG operation and its throughput. Moreover, non-linear dimension reduction was used to ease the process visualisation and search for potential control strategies. In the future, online hardness measurements should also impact the understanding of comminution circuits and improve their operation.INTRODUCTIONThe variability in hardness, and the feed size distribution, are two of the main disturbances affecting comminution circuits (Sbarbaro & del Vilar, 2010). Size distribution can be measured by imagebased granulometry systems such as WipFrag (Maerz, Palangio, & Franklin, 1996), or by 3D vision systems when the fines are difficult to discriminate by 2D segmentation (Faucher, Makni, Gagnon, Lavoie, & Roberge, 2015).There are few examples of online hardness measurements. One example was the work of Casali et al. (2001) who developed a hardness indicator. The ore grindability soft sensor used the fraction of each lithological class in the ore, as determined by image analysis, to predict the work index of the material. The model was developed using a moving window with a width of 12 months and trends were shown over many years with one data point per month."

Jan 1, 2016

By S. Sakurai

"Gravitational force is an external body force acting on underground structures. It should be noted that gravitational force cannot be replaced with the surface traction vector (Cauchy stress) which is an internal force. This fact should be properly taken into account in a numerical analysis of underground structures, particularly for structures such as vertical shafts, tunnels, and caverns constructed at great depths. It is obvious that the gravitational force must be conserved at all times.In conventional numerical analyses, the initial state of stress of the ground medium is firstly calculated under the gravitational field. This means that the gravitational force is replaced with stress (surface traction vector), and after that only the initial stress is considered in the calculation of the stresses and displacements of the structure. It should be noted that the initial stress is Cauchy stress consisting of a surface traction vector, while the gravitational force is a body force acting on the mass of the materials. This computational approach may be acceptable for elastic problems because the principle of superposition is valid for elastic materials. However, this approach becomes questionable for elasto-plastic materials because there is no guarantee that the principle of superposition is valid for them.Furthermore, another problem exists in elasto-plastic analyses: The stress state in a plastic zone must satisfy a yielding criterion such as that of Mohr-Coulomb. In order to make the stress state satisfy the criterion, an excess stress beyond the yielding criterion should be transferred to an elastic zone existing outside of the plastic zone. This seems to always be possible, because an elastic zone always exists, no matter how large of a plastic zone appears. In some cases, however, the excess stress cannot be transferred to the elastic zone because the gravitational force must be conserved. Therefore, it is obvious that the magnitude of stress around underground structures may become large and surpass the yielding criterion at great depths where a large gravitational force exists.In this paper, it is demonstrated that in a conventional elasto-plastic numerical analysis of a vertical shaft at a great depth, all the stress components around the shaft become very small, even though a large gravitational force exists. This strange result may be due to the fact that the gravitational force is not properly taken into consideration in the numerical analysis."

Jan 1, 2015

By F. Pinto, C. A. Prato, R. J. Rocca, P. F. J. Huerta Soaje

"The seismic hazard for civil engineering structures is generally defined in terms of deterministic or probabilistic acceleration response spectra at an equivalent rock outcropping. The design of tunnels, however, requires the definition of demands in terms of accelerations at ground surface (near the portals) and in terms of both accelerations and velocities at different depths within the alignment. The design near the portals is controlled by inertial effects and is often times impacted by the possibility of slope instability and rockfall, whereas the design at deep sections is controlled by kinematic effects. These effects are accounted for in practice by introducing deformation patterns in the structure that are related to an assumed wavefield, often times ignoring the effect of the structural stiffness in the response. This paper presents a study regarding the definition of seismic demands for different sections of 14-km long tunnel in the Andes (Argentina-Chile), with a maximum overburden of 1750 m in a seismically active region. The tunnel will pass through volcanic massifs mainly composed by andesites and rhyolites.The study includes the definition of spectrum-compatible seismograms, deconvolution, and definition of accelerations and peak particle velocities for different overburden conditions. A kinematic interaction study for a 500-m tall ventilation chimney shaft is also described, where a simple formulation for the interaction analysis is considered in order to more accurately evaluate shear and bending demands. INTRODUCTIONThe seismic design of linear underground structures, such as shafts and tunnels, generally considers the inertial forces near the shallow sectors (e.g., portals) and the kinematically imposed deformations for the deep sections (e.g., Hashash et al. 2001). The inertial forces are often times evaluated on the basis of design spectra recommended by seismic hazard studies. The kinematic demands for the deeper sections, however, needs to be defined in terms of additional information which is not always indicated by the seismic hazard studies, e.g.; peak particle velocities and accelerations, and their variation with depth. These parameters can be determined by means of a site response analysis, whereby outcrop motions can be deconvoluted in order to evaluate motions inside the ground mass (e.g., Schnabel et al., 1972). Hashash et al. (2001) defines factors that may be used in order to account for attenuation of motions inside the ground mass. However, these factors are provided for depths up to 30 m only, whereas depths of tunnels structures can range up to thousands of meters."

Jan 1, 2015

By Lev Filippov, Saeed Farrokhpay

"Flotation process has had less success to recover nickel from laterite ores. Nickel in laterite ores is often finely disseminated in various minerals in very fine size. Therefore, fine grinding should be used to liberate nickel containing particles. Particles resulted from fine grinding are often very fine, and recovery of such particles is generally low using conventional flotation methods. One option to overcome this problem is enhancing the particle-bubble interaction by increasing the particle size and forming flocs. Selective flocculation of fine particle can be therefore the key to enhance the flotation performance of low grade laterite ores.INTRODUCTIONThe majority of the world’s nickel resources occur as laterite ores which are complex, low grade and expensive to treat using conventional smelting and high temperature and/or high pressure autoclave methods (Xu et al., 2013). While about 70% of the nickel resources are contained in laterites, only 40% of the world’s nickel production comes from these ores. Researchers have tried to improve the nickel laterite flotation recovery by using a number of feed preparation techniques. For example, in a study on a laterite ore sample from Australia, flotation tests on a narrow sized fraction of 38-75 µm resulted in only a small increase in the nickel content, from 1.0% to 1.4% (Quast et al., 2015a). In fact, no physical separation technique (including flotation) has been able to dramatically upgrade nickel in laterite ores (Quast et al., 2015b). Thus the challenge of processing low grade nickel laterite ores still exists. This paper aims to explore the possibility of applying selective aggregation in pre-concentrating of valuable minerals in nickel laterite ores."

Jan 1, 2016

By M. D. Gerst

The degree to which copper will continue to be in an integral part of the world economy in the future will depend largely on the dynamics of global economic development, the primary and secondary copper resource stock, technological change, and potential environmental constraints. We have characterized the copper cycle of 1994 for all of Earth's regions and for the planet itself (T. Graedel et al., Environmental Science & Technology, 38, 1242-1252, 2004) and recently updated that cycle to year 2000. In this paper, we compare various features of the 1994 and 2000 cycles. The three largest-using regions, Asia, Europe, and North America, all increased their absolute rate of copper use between 1994 and 2000, and all increased the per-capita rate of copper use as well. Globally, the use of copper increased by about 32%, from 11.7 to 15.3 million metric tons, while population increased by only 8%. Various changes are seen in scrap trade, finished products trade, and other parameters of the cycle. We conclude by considering how the rates of technological change and growth in demand, especially in Asia, may influence the copper cycle in the years ahead.

Jan 1, 2007

By E. Burdukova

Long-chain primary amines are utilized as collectors in potash ore flotation. Krafft temperature of long-chain amines in brine is about 100 °C, and this makes such amines practically insoluble in brine at room temperature. When dodecylamine, melted at 70 °C and dispersed in hydrochloric acid (or acetic acid) aqueous solution, is added to a KCl-NaCl saturated brine at room temperature, the amine precipitates. The experimental results demonstrate that the precipitating amine hydrochloride particles are selectively abstracted by KCl particles, but not by NaCl particles.

Jan 1, 2009

By Jiachen Wang

Longwall top-coal caving mining is one of the major mining methods for extracting thick coal seams in China. The top-coal caving longwall mining was began to use in the 1980s in China, and got the rapid development. The development of the top-coal caving mining technology in China, the achievements and the theoretical aspects progress of this method are described in detail in this paper. And the main technical model of China's top-coal caving mining is introduced in this paper. This paper also introduces the application of large-cutting-height mining in China and the technical level it has reached.

Aug 1, 2013

By M. G. Beukes

"In South Africa most of the large gold mines operate between 1500m and 4500m below surface where reef is accessed initially through a vertical shaft system then via a network of tunnels and mined in either a longwall, sequential grid or scattered mining configuration. Due to the complexity of the ventilation networks used to ventilate these mines and the potential disastrous consequences associated with underground fires, it is of utmost importance that these mines are managed in such a way that underground fires are prevented. However, if they do occur the fires are managed to firstly prevent the loss of life and secondly protect the infrastructure and viability of the mine. The aim of this paper will be to: • Discuss current SA mining legislation regarding underground fire prevention and control. • Examine these fires from a risk management perspective by means of a bowtie assessment. • List and discuss the major Threats and Consequences as determined by the bowtie assessment. • Discuss the various prevention and consequence controls for deep level underground fires. • Examine how to effectively run an emergency control room. From this, a practical way of designing, implementing and managing an underground fire management system is explored. Lastly, the paper identifies new technology and ways of thinking and how these can be used to combat underground fires. INTRODUCTION The orebodies of South African gold mines are generally narrow tabular structures that vary in thickness between 0.8m and 1.2m with an inclination of between 200 and 700. This, coupled with depths of between 1500m and 4500m, as well as the unpredictable geology, creates unique challenges and significantly impacts on mine designs and mining methods. In general, gold bearing reefs are accessed initially through a vertical shaft system then via a network of tunnels and mined in either a longwall, sequential grid or scattered mining configuration (Figure 1). Mining is very labour intensive with very limited mechanisation opportunities and this increases the risk to human life if an underground fire occurs. On 16 September 1986, one of the worst mining disasters in SA mining history took place when 177 mineworkers were killed at Kinross Mine. An acetylene tank sparked flames that swept through the mining tunnel igniting plastic covering on the wiring and the flames also set fire to polyurethane foam. The burning plastic combined with polyurethane and the toxic fumes that filled the shafts caused the miners death. This incident was a stark reminder of the serious consequence that underground fires can have on human life as well as the crippling financial and asset impact for the mining companies. Over the past thirty years, the SA mining industry reduced the number of mine fires significantly by replacing normal timber support with fire retardant treated timber, alternative support systems such as backfill and elongate support and many other fire prevention initiatives. Although the number of fire incidents and number of fatalities due to fires does not show a direct correlation because of various factors, the controls put in place against fires has had an impact on the number of fire and explosion fatalities (Figure 2)."

Jan 1, 2019

By A. F. Gregory

"AbstractA resumé of aerial radiation survey studies performed by and for Eldorado Mining and Refining, Limited, since 1943 is presented. Flight tests were initiated in 1947 and were followed .by intensified use and study of Geiger counters and other radiation detectors. Development of an aerial scintillation counter began in 1948, but •a sensitive large crystal unit was not available for exploration purposes until 1950. Modifications of this unit have been used in all subsequent surveys.For the Eldorado detector, several limiting conditions were established for successful radioactivity detection, the most important being that natural vein exposures can only be assuredly detected .at distances less than 150 feet. Sedimentary and pegmatitic radioactive occurrences can be detected at much greater distances. A helicopter investigation technique appears to •have •a useful prospecting potential.IntroductionAerial radiation surveys were first proposed in the early 1940's. However, it was not until 1949 that airborne detectors were extensively used in the search for radioactive minerals. Eldorado has flown about 50,000 miles of exploration flights, exclusive of tests, using a variety of •detectors and aircraft. Considerable data have •been gathered for .the evaluation of the several techniques employed. Much of the early work was performed with the co-operation of the National Research Council of Canada ( 1). More recent work was done in conjunction with the Commercial Products Division of Atomic Energy of Canada, Limited. The Development Department of this latter corporation designed and built the scintillation counter used in recent Eldorado surveys."

Jan 1, 1955

By John Rowson, Caitlin Brown, Kebbi Hughes, Joseph Esslifie-Dughan

The McClean Lake mill in northern Saskatchewan, Canada, is operated by Orano Canada Inc. and has been in production for the last 20 years. The tailings preparation process at the mill has been designed with decommissioning in mind, to produce tailings that are geochemically stable over the long-term within the site’s tailings management facility. Twenty years of study have contributed to a detailed understanding of geochemical and geotechnical properties of the McClean Lake tailings. Validation of the tailings properties has occurred through in-situ sampling campaigns conducted initially every year, and later every five years. Each sampling campaign has applied the same rigorous sampling procedure to provide data with useful correlations year over year. Each campaign result compares elements such as the inherent variability of the tailings, consolidation of the tailings and variations in the tailings placement methods. We will discuss lessons learned from seven sampling campaigns over 20 years and present data to show the reliable tracking of geochemical evolution of the in-situ tailings over time; providing opportunities for continuous improvements.

Jan 1, 2020

By N. W. Xu, C. Sha, F. Dai, Y. G. Zhu, B. Li

Underground caverns stability and excavatability of rock masses are of significance in geotechnical engineering, in both design and construction stages. Risks associated with underground group caverns of Houziyan hydropower station in southwestern China are growing as a result of continuous excavation-induced unloading. To improve our understanding of the underground caverns instability and resolve the complex subsurface conditions of the highly fractured rock mass, a high resolution microseismic monitoring system was established in the deep underground caverns, pursuing the relationship between the measured data about microseismic activity and excavation damage zones of surrounding rock mass. Through analyzing the tempo-spatial distribution of microseismic activity, excavation damage zones and potential risk regions in underground caverns were identified. Furthermore, the correlation between microseismic activity and pre-existing geological structures, as well as traditional monitoring was analyzed. In order to validate the correlation between seismicity and potential slip surface of underground caverns, a model was implemented into numerical code to further evaluate the deformation and stability of surrounding rock mass. The monitoring results demonstrate that microseismic events mainly occur at high stress concentration regions, which coincides with the results obtained from numerical analysis. Therefore, the comprehensive method incorporating microseismic monitoring and numerical analysis, as well as traditional monitoring and filed observation has been proven to be very promising in deformation and even instability prediction of surrounding rock mass in underground caverns subject to delineation of potential slip surfaces and excavation damage zones.

Jan 1, 2015

By P. J. Finnis

This paper describes the use of wire rope on open-pit mining equipment, giving specifications and examples of the performance achieved. Installation methods are also discussed, making the paper of considerable practical use to mine operators.

Jan 1, 1973

By D. R. Schmitt, Q. Jia, R. Kofman

"Tests were carried out on clear glass blocks containing borehole aligned with and at an angle to applied principal stress states in order to study the growth of drilling induced tensile fractures. The samples were illuminated such that photoelastic fringes could be video recorded during the measurements; this was useful in assessing states of stress and in determining fracture initiation. Axial drilling induced fractures were observed at the azimuths of the applied uniaxial stress as would be expected from the concentrated stresses. En echelon fractures were observed from the borehole deviated at 45° to the direction of the compression. These preliminary and currently qualitative results show that glass blocks serve as a useful test medium for studies of stress concentration and drilling induced fracture creation. INTRODUCTIONWith the increasing exploitation of unconventional oil/gas reservoirs using deviated drilling in recent years, the effects of the in-situ stress on the success of energy production have become more critical than ever before. Knowledge of the state of stress in the earth enables us to determine well trajectories, well locations, hydraulic fracturing design and production rates, but knowing the crustal stress is always challenging. Strictly, it can only be obtained to varying quantitative degrees by accessing the earth through drilling. Failure of the rock at the borehole wall produces borehole breakouts (e.g., Bell & Gough, 1979; Haimson & Herrick, 1986; Zoback et al., 1985) and drilling-induced tensile fractures (DITF) (e.g., Aadnoy, 1990; Aadnoy & Bell, 1998; Barton et al., 1997; Brudy & Zoback, 1999; Davatzes & Hickman, 2010; Peska & Zoback, 1995). Thus, it is important to understand the failure mechanism of the rock in the vicinity of the borehole. A number of closed-form expressions have been developed that allow the stress concentrations to be calculated in the vicinity of a borehole including Kirsch’s (1898) 2-D plane strain solution and 3D formulae for elastically isotropic (Hiramatsu and Oka, 1962) and anisotropic (Lekhnitskii, 1981; Amadei, 1983) continua. These solutions have been applied in numerous studies (e.g., Ong, 1994; Ong & Roegiers, 1996; Vahid & Ghassemi, 2011; Jia & Schmitt, 2014; Ito et al., 2001) to analyze the failure mechanisms of drilling-induced tensile fractures (DITF) on the borehole wall."

Jan 1, 2015

By C. J. Clayton, A. J. Haynes, D. A. Hickson, B. Thiele

The Meadowbank Gold Project, formerly owned by Cumberland Resources Ltd. and currently owned by Agnico Mines Ltd., is currently being developed approximately 70 km north of Baker Lake, Nunavut, in the eastern Canadian Arctic region. The Meadowbank Gold Project currently consists of a series of gold-bearing deposits within relatively close proximity to one another, which are planned to be mined primarily as a truck-and-shovel open pit operation using conventional gold milling and extraction. The mining plan indicates that approximately 20 million tonnes of ore will be mined over a mine life of eight to ten years. The operation will generate approximately 160 million tonnes of mine waste rock and about 20 million tonnes of tailings. The site is located in an area of continuous permafrost with mean annual average air temperature of -11°C and average annual precipitation in the range of 100 to 200 mm. Lakes cover a large portion of the site, including some of the ore deposits. The location of the site and the physical environment pose challenges to development. This paper presents some of the designs considered to effectively manage and utilize the waste products of mining at the project. Note that volumes, tonnages, construction concepts, and data presented in this paper are accurate for the time of writing and are subject to change and modification as the project progresses, additional modelling is carried out, and additional data are obtained.

Jan 1, 2007

By P. Tracy

An advanced real-time monitoring system, called a "Tapblock Diagnostic System" is under development to help furnace operators manage the operation and maintenance of their tapblocks. The life of a water-cooled tap block in a smelting furnace ranges from several months to several years, depending on the operating conditions. Tapblocks are typically replaced at regular maintenance intervals; a strategy based largely on historical records and not on the actual condition of a particular tapblock. The Tapblock Diagnostic System monitors the tapblock throughout its life and accumulates probable wear events to help the operator assess the residual integrity of the tapblock. Benefits of this system include the ability to provide early warnings of tap block wear to provide improved safety and maintenance planning. Using cooling-water flow together with copper and water temperature measurements, the system performs calculations that compare the present tapblock performance with the expected operating envelope using a multivariate statistical method (Principle Component Analysis). The operating envelope is pre-calculated for a wide range of operating conditions using transient thermal modeling (Computational Fluid Dynamics). A state indicator in the form of a green, yellow and red light is used to inform operators of the tapblock performance and health status.

Jan 1, 2007

By J. F. Magee

THERE is nothing new about drag-line dredging for placer gold. The use of the separate unit for excavating preceded the large barge with bucket-line excavator mounted upon it, which has developed to a high state of perfection through use in every part of the world. But at present there is a vogue for a small, inexpensive plant to work economically the shallower gold gravel deposits that the bucket-line dredges do not work. The dragline dredge consists of the drag-line excavator, on caterpillar mounting on the edge of the dredging pond, which feeds the gravel to the washing plant, mounted on a floating barge in the pond. There have been more than twenty-five such plants built and operated in central and northern California and an unknown number in other States. There have been variations in details of design but the essentials are similar in all. I wish to describe the operation of a typical drag-line dredging plant, that of the Wyandotte Gold Dredging Company on the Farnan Ranch in the Oroville district. This organization of six active partners built their first plant on Wyandotte creek in the autumn of 1933. The operation was successful due to wise management, which was based upon good plant design and proper principles of operation. The partners elected one of their number, H. F. England, as manager with full control and responsibility. This plant and operation furnished the pattern for many subsequent ones.

Jan 1, 1937

By William H. Emling

With profitability pressures in heavy industry increasing, many producers are turning to predictive maintenance as a means of harvesting untapped value from their production assets. Corporations are losing their maintenance and processing core competencies through attrition. As capital budgets are being trimmed, manufacturers are consolidating operating units into fewer, more profitable routes. Maintenance functions, however, typically receive low priority when investment is made, since many companies consider maintenance costs as ?overhead?. Condition-based monitoring, integrated to Level I and Level II process inputs, is seen as the most cost-effective solution to the implementation of predictive maintenance strategies. This paper will review the evolution of preventive and predictive maintenance programs, highlighting examples of successful application of integrated condition monitoring.

May 1, 2001

By Julian V. Simela

Conventional methods of underground surveying use theodolites/total stations and 3D laser scanners to obtain information about the underground environment. Current methods of geo-referencing these instruments to a mine reference system include triangulation, trilateration and resection. However, despite technological advancements, surveying procedures have remained slow, laborious and relatively unchanged during the last half-century. Recent innovations in the robotics community have shown that automated mapping of underground mining tunnels can be undertaken using 2D/3D laser scanners. These techniques have the potential to, in turn, improve upon current underground surveying and mapping methods. Automating surveying and mapping using current surveying tools without changing the setting up procedures or removing current constraints, or even changing the type of equipment used, does not change the status quo. The problem of moving from a static, tripod based surveying and mapping system to an unconstrained mobile surveying and mapping system is the subject of this paper. A current challenge for automated mapping is the ability to automatically geo-reference a mobile mapping system to a mine reference system. For a mobile mapping system that uses a horizontally mounted 2D laser scanner to gather data of the underground environment, the challenge of determining its position and orientation within the mine environment is magnified even more. This paper introduces Mobile Automated Scanner Triangulateration (MAST), a technique under development at Queen?s that is designed to geo-reference a mobile mapping system to a mine reference system for the purposes of underground mine surveying. MAST quickly and automatically determines scanner 2D position and orientation (azimuth) in a mine reference frame by using minimal human input.

Aug 1, 2013