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By André van Wageningen

Since the beginning of this century Boliden Mineral and Atlas Copco have worked together in stages on improving the accuracy and quality of drilling. Navigation of the drill rigs with IREDES has been in use in the Boliden mines for several years. Recently the capability of the system has extended with map navigation to more accurately follow the ore in cut&fill mines. The system allows for changes on the individual round level to follow the ore without changing the whole design for the heading. Those changes are done in a CAD-system and remove the need for face markings and will allow for even better accuracy in both height and wall position. All the information between the CAD-system and the drill rigs is exchanged using the IREDES standard. This paper describes the workflow and the use of the IREDES standard.

Oct 1, 2009

By Rajiv Kalra, Ji Jiangang

"This paper reviews the following aspects of the world’s largest manufactured Grinding Mill’s in terms of diameter and power, along with the world’s biggest shop assembly and trial run of the mills delivered to Sino Iron Magnetite Project in Australia.1. An overview of the basic flow sheet of the Sino Iron (Magnetite) Project located in Australia2. An overview of in-house designed CITIC Heavy Industries 12.2 m (40ft) F x 11 m(36ft) LG – 28MW AG mills including FEA and major components3. In-house manufacturing at CITIC-HIC work in Luoyang China of all major components for 6 off Ø12.2 m(40ft) AG mills and 6 off Ø7.9 m(26ft) x 13.6 m(44.6ft) LG – 2 x 7.8 MW Ball Mills4. Major aspects of design and preparation of the biggest shop trial run of Ø7.9 m(26ft) x 13.6 m(44.6ft) LG Ball Mill witnessed by international EPCM’s and clients in July 2009.5. Major aspects of one piece assembly of 1300 tonne rotating element of the Ø12.2 m(40ft) x 11 m(36ft) LG AG Mill and Ø7.9 m F (26) x 13.6 m(44.6ft) LG Ball Mill at the port of the export China and transport to Australian Port and then to site.6. An insight to unique installation methods used for Ø12.2 m(40ft) and Ø7.9 m(26ft) rotating element lifting on the mill foundation in one piece assemblies.7. CITIC Heavy Industries present capability for in house design and manufacture of Grinding Mills up to Ø13.7 m (45 ft) with 35 MW Gearless drives and Ø12.2 m(40ft) with 2 x 10 MW Geared Mill drives"

Jan 1, 2012

By Jamie Archibald

The Department of Mining Engineering at Queen?s University conducted a study of backfill practices in underground mines across Canada to assess the current state of backfill usage and to overview potential hazards associated with backfill practice, from preparation to transportation to placement. The primary aim of this study was to cover each component of a typical mine backfill system, and to identify potential incidents leading to the disruption of backfilling operations and any associated corrective actions. This paper, Part II of the study, deals with underground operations consisting of backfill transportation and backfill placement. Part I of the study, which deals with surface operations consisting of backfill material supply and backfill plant preparation, is also presented in these proceedings. A review of safety measures associated with current backfill operations and recommendations for procedures of best practice that should be implemented to reduce fill-related hazards in all mine backfill workplace environments are presented. In general it has been found that system failures normally lead only to minor losses to the operations.

May 1, 2009

By Knud Sinding

Environmental reporting by mining firms takes many forms and change frequently. The objective of these reports is related to increasing the legitimacy of mining firms with their diverse stakeholders. This study, focusing on internet-based reports, shows that there are considerable variations in reporting. This phenomenon is interesting because it belies the efforts pursued by leading industry members under iniatives such as the Global Mining Initiative and the Mining, Minerals and Sustainable Development project. The observed variation, both internally among reports and between reports and other industry policy statements, suggests that the industry needs to explore the possibilities for more convergence in terms of reporting quality. Based on theoretical constructs from the management literature we present a series of arguments defining necessary and sufficient conditions for durable and well-institutionalized reporting practices and standards.

May 1, 2002

By Rajiv Kalra

This paper reviews the following aspects of the world?s largest manufactured Grinding Mill?s in terms of diameter and power, along with the world?s biggest shop assembly and trial run of the mills delivered to Sino Iron Magnetite Project in Australia. 1. An overview of the basic flow sheet of the Sino Iron (Magnetite) Project located in Australia 2. An overview of in-house designed CITIC Heavy Industries 12.2 m (40ft) F x 11 m(36ft) LG ? 28MW AG mills including FEA and major components 3. In-house manufacturing at CITIC-HIC work in Luoyang China of all major components for 6 off Ø12.2 m(40ft) AG mills and 6 off Ø7.9 m(26ft) x 13.6 m(44.6ft) LG-2 x 7.8 MW Ball Mills 4. Major aspects of design and preparation of the biggest shop trial run of Ø7.9 m(26ft) x 13.6 m(44.6ft) LG Ball Mill witnessed by international EPCM?s and clients in July 2009. 5. Major aspects of one piece assembly of 1300 tonne rotating element of the Ø12.2 m(40ft) x 11 m(36ft) LG AG Mill and Ø7.9 m F (26) x 13.6 m(44.6ft) LG Ball Mill at the port of the export China and transport to Australian Port and then to site. 6. An insight to unique installation methods used for Ø12.2 m(40ft) and Ø7.9 m(26ft) rotating element lifting on the mill foundation in one piece assemblies. 7. CITIC Heavy Industries present capability for in house design and manufacture of Grinding Mills up to Ø13.7 m (45 ft) with 35 MW Gearless drives and Ø12.2 m(40ft) with 2 x 10 MW Geared Mill drives

Jan 1, 2012

By Kevin J. Palmer

The introduction of the National Instrument (?NI?) 43-101 Standards of Disclosure for Mineral Projects has led to some very specific requirements to reporting a Mineral Resource estimate for mineral projects to the public. There are elements of the Mineral Resource estimate that are based on the qualified person (?QP?) completing the work to accepted industry practices and applying their relevant experience. There is no document that defines what is considered the accepted industry practices. There are guidelines provided by the Canadian Institute of Mining, Metallurgy and Petroleum (?CIM?) but, in general, the industry practices are dynamic and often different QPs will estimate the same mineral project in different ways. This sometime happens on exploration projects as they proceed from one study to the next. The focus of this paper is to provide a review of some of the current practices that are published in Technical Reports (Preliminary Assessment to Feasibility studies) with respect to classifying a Mineral Resource as Inferred, Indicated and Measured and the grade interpolation and modeling methods, data support (i.e. geological drill hole spacing) and validation methods employed.

Oct 1, 2010

By T. A. Grammatikopoulos, B. Vasily, A. H. Clark

"The St. Lawrence deposit is a large wollastonite skarn (ca. 9 Mt @ 41.3% wollastonite) adjoining the gabbroic-to-syenitic Leo Lake pluton in the granulite facies Frontenac Terrane of the Grenvillian Central Metasedimentary Belt. It occurs within a horseshoeshaped horizon of quartzite, open to the east. The skarn extends over 1.2 km2, and comprises wollastonite-dominant, wollastonite-clinopyroxene, and diverse quartz-feldspar-sulphide (-titanite) layers, interbanded with, and strongly folded within, the quartzite. As in the world-class wollastonite deposits of the Willsboro district, New York, no carbonate protolith is preserved, and calcite is a negligible constituent of the mineralized zones. Wollastonite development is nonetheless ascribed to metasomatism of a metacarbonate unit by magmatogene, silica-rich, CO2-poor (XCO2 < 0.05) fluids, at P = 350 MPa and ca. 560°C, or, alternatively, 550 MPa and ca. 630°C.Several high-grade zones, averaging >40% but locally exceeding 80%, of translucent, white, tabular wollastonite grains, with lengths of 0.2 cm to 5 cm, have been delimited by drilling. Preliminary beneficiation studies yield high aspect-ratio and high-purity (low Fe and Mn) concentrates.St. Lawrence compares favourably to other known prospects and operating wollastonite deposits: having good chemical and physical properties, low iron content, and high aspect ratios (>20:1). In addition, the deposit has a favourable size and location, and will benefit from a low Canadian dollar. Canada currently has no wollastonite production."

Jan 1, 2003

By M. Rantapaa

Measurable improvements in throughput have been documented at Barrick Goldstrike due to increased ore fragmentation through efficient drilling and blasting techniques. A decrease in throughput at the autoclave, due to increasingly hard ore, was identified in early 2002. A team of individuals from the open pit and process areas worked closely on the Drill-to-Mill (D2M) Continuous Improvement initiative to ensure that it would address the needs of both groups, with the target of actually improving throughput in future years, despite the projected harder ores. A series of tests were conducted to determine if adjustments to drilling and blasting could positively influence throughput. Better fragmentation and a subsequent increase in mill throughput were achieved through the use of electronic caps for more precision and flexibility, as well as for allowing extremely fast shots; explosives with a higher velocity of detonation (VOD) to provide for improved shock energy; and improved distribution of the explosives by decreasing pattern spacing. Early tests indicated a significant increase in throughput when processing identified harder ore. It is anticipated that the total process throughput (hard and soft ore) will increase by 6 tph in 2003 due to the improved fragmentation of the hard ore. Barrick Goldstrike?s D2M initiative includes roaster hard ore (BWI>17), as well as autoclave hard ore (BWI>15). Approximately 6 million tons of D2M material were shot in 2003, a relatively small amount compared to the 150 million tons to be mined. The benefit of additional ounces produced should far outweigh the additional drilling and blasting costs.

Jan 1, 2005

By R. Mckinstry, M. Rantapaa, T. Bolles

"Measurable improvements in throughput have been documented at Barrick Goldstrike due to increased ore fragmentation through efficient drilling and blasting techniques. A decrease in throughput at the autoclave, due to increasingly hard ore, was identified in early 2002. A team of individuals from the open pit and process areas worked closely on the Drill-to-Mill (D2M) Continuous Improvement initiative to ensure that it would address the needs of both groups, with the target of actually improving throughput in future years, despite the projected harder ores. A series of tests were conducted to determine if adjustments to drilling and blasting could positively influence throughput.Better fragmentation and a subsequent increase in mill throughput were achieved through the use of electronic caps for more precision and flexibility, as well as for allowing extremely fast shots; explosives with a higher velocity of detonation (VOD) to provide for improved shock energy; and improved distribution of the explosives by decreasing pattern spacing. Early tests indicated a significant increase in throughput when processing identified harder ore. It is anticipated that the total process throughput (hard and soft ore) will increase by 6 tph in 2003 due to the improved fragmentation of the hard ore.Barrick Goldstrike’s D2M initiative includes roaster hard ore (BWI>17), as well as autoclave hard ore (BWI>15). Approximately 6 million tons of D2M material were shot in 2003, a relatively small amount compared to the 150 million tons to be mined. The benefit of additional ounces produced should far outweigh the additional drilling and blasting costs."

Jan 1, 2005

By Dianne M. Lapierre

Mining firms in Canada are increasingly incorporating the social and environmental interests of their stakeholders into their projects in an effort to become more sustainable. Such initiatives have included negotiating Impact and Benefit Agreements (IBAs) directly with would-be impacted, often aboriginal, communities near resource developments in the Canadian north. Why does a mining firm take on this extra time-and cost-intensive initiative when governments and regulatory measures are in place to address social and environmental issues? Past research has paid little attention to the corporate rationales for IBAs. Based on document review and interviews with mining executives, this study investigates the rationales of mining firms that ?over-comply? with legislative requirements by negotiating IBAs or similar types of agreements with communities. The results indicate that mining firms increasingly recognize IBAs as an intrinsic part of the permitting process. When queried, executives regularly identified the negotiation of agreements as ?the right thing to do?. While this response could be read in ethical terms, a commercial rationale is also clearly present. By building strong relationships with nearby communities, addressing community concerns, and directing benefits to local people, all of which are explicitly achieved with an IBA, mining firms are maintaining their long-term financial viability, thus their sustainability, within an evolving industry.

May 1, 2008

"INTRODUCTIONGold tailings retreatment plants have been operated for many years throughout the world. Several large tailings retreatment facilities have been operated profitably in South Africa since 1976 and there are tailings retreatment operations in Canada currently in production with more in the feasibility stages.The Timmins Gold Tailings Project of ERG Resources Inc. was designed to treat 8,000,000 tonnes per annum of gold tailings for an eight month operating season, and commissioning of the operation began in July 1988. The payback period for this project is about 3 years which corresponds to an IRR of 30%.This report summarizes the metallurgical characteristics of the reclaim tailings, describes the process flowsheet which was developed to enable ERG to economically recover gold from the Timmins area tailings, and reviews commissioning activities."

Jan 1, 1989

By Jacek Paraszczak

Application of teleoperated and automated mobile equipment in underground metal mines represents a promising avenue to overcome some of the challenges facing the industry. This paper addresses the issues of overall effectiveness of the autonomous loading and haulage equipment in comparison with conventional man-operated machines. It overviews and discusses the factors affecting availability, utilization and production rate. It puts an emphasis on some problems and risks not present in conventional man-operated systems, as well as their character and criticality. It stresses the need to analyze the factors affecting OEE of the autonomous equipment more in-depth than it has been done up to date and to take them into consideration at the stage of feasibility studies. The paper concludes with some recommendations and indicates the directions of the future research in this field.

Oct 1, 2009

By Susumu Tsubota

Three types of reference gold catalysts, i.e., 3wt%Au/TiO2 (Au-Ti: Type A), and 0.3wt%Au/Fe2O3 on alumina beads (AUS: Type B), and 5wt%Au/Fe2O3 (Au-Fe: Type C), were produced in a test plant scale by Sud-Chemie Catalysts Japan, INC. under the licensing of AIST. To evaluate the validity of the preparation methods and conditions used for the reference samples, elemental analyses by ICP, particle size measurements by TEM, and catalytic activity measurements for the oxidation of CO and H2 over these catalysts were made. Gold catalysts can be prepared in a large scale of ca 400g for the Au-Ti and Au-Fe catalysts, 5 kg for the AUS catalyst with good reproducibility. It was confirmed that they were available for useful as the reference gold catalysts of World Gold Council.

Oct 1, 2003

By Joël P. T. Kapusta

Back in 1995, Air Liquide and Union Minière presented a joint paper at the Copper 95 – Cobre 95 Conference in Santiago, Chile, describing the first full scale plant trials of shrouded sonic injection in a Hoboken converter at the Hoboken smelter in Belgium. Almost a quarter of a century later, the technology known as ALSI, or Air Liquide Shrouded Injection, has been tested or commercially implemented in several copper and nickel smelters. Despite these successes, the copper industry did not adopt it widely in the same manner the steel industry adopted the Savard-Lee tuyere in the 1970s and beyond, not even in the way the lead industry adopted it with the Queneau-Schuhmann-Lurgi, or QSL, process. The development and implementation of bottom-blowing smelting and converting technologies in China in the last ten years, however, changed the industry’s perception that high- and ultra-high oxygen injection in copper smelting and converting was indeed possible under specific process conditions. In this paper, I retrace the key learnings of my journey with sonic injection over the twenty five years from my humble beginnings in my early years with Air Liquide, through plant trials and technology implementation in the late 1990s and into the first decade of the new millennium, and ultimately, to the most conclusive proof that the sonic injection design methodology I established is valid, and the calculation tools I developed are accurate. I conclude by sharing my thoughts about whether the deployment of the Savard and Lee legacy within the nonferrous industry was just a pipe dream or whether it will become a reality. INTRODUCTION In the context of lower quality ores and changing economic markets, copper smelters need to continuously innovate and improve to remain competitive and respect their corporate social responsibility engagements. One avenue towards this business, social, and environmental goal is to increase process intensity while lowering fossil fuel consumption to lower greenhouse gas emissions and reducing process off-gas volumes to better capture As and SO2–laden emissions. I believe high oxygen sonic injection for submerged tuyere copper bath smelting and converting is one technology that can help smelters achieve that goal of higher business, social, and environmental performance. Twenty five years ago, when I discovered that the Savard-Lee tuyere had revolutionized the steel industry (Savard & Lee, 1966; Knuppel, Brotzmann, Fassbieder, Savard, & Lee, 1972), I had a dream — or was it a vision? — that within the first decade of the new millennium, modern copper smelters operating submerged tuyere bath smelting and converting vessels will have implemented high oxygen sonic injection and will be reaping the financial and environmental benefits that the steel industry enjoyed in the 1970s. As we approach the end of the second decade of the new millennium, I have to admit that my dream has been all but shattered as the majority of copper bath smelting and converting vessels today continue to operate under bubbling regime conditions. This mode of operation is archaic, still requires tuyere punching and blows at inherently low enrichment levels, particularly in converting, producing large volumes of process off-gases. Under such operating conditions, regulations and emission quotas for As, SO2, and particulate matter oblige smelters to use not just primary or secondary hoods, but sometimes even tertiary hoods. I vividly recall being told, fifteen or twenty years ago when visiting smelters to promote the application of the Savard-Lee tuyere in nonferrous processes, that implementing sonic injection was not economically viable due to the high cost of compressing air and oxygen. Some of the smelters I visited back then have since mandated their engineering partners to design and build secondary or even tertiary hoods. I cannot fathom how secondary and particularly tertiary hoods, with all of their auxiliary equipment and added ducting, could be more economically viable than purchasing and installing a few compressors, expanding the pipeline network for compressed air and oxygen, and installing a new control valve train to feed sonic tuyeres. Besides, adding hoods does not address the problem of As and SO2-laden fugitive emissions at its source but merely provides a costly mitigation for it by capturing larger volumes of process off-gases rather than reducing these large volumes in the first place. Moreover, hooding does not reduce energy consumption nor does it increase process intensity, two aspects that I believe are critical for smelters to remain competitive and sustainable in a deeply changing market environment.

Jan 1, 2019

By J. A. McCamley

Gypsum scrap generated from wallboard manufacturing, construction and deconstruction activities in North America, Europe and Japan is a recognized environmental problem. Landfill disposal of this gypsum scrap is problematic, with deposits often creating hydrogen sulphide emissions and metallic sulphide groundwater leachates. Of these regions, Europe is the most advanced in dealing with the issue having enacted legislation, which will come into effect in July 2005 that will strongly encourage gypsum recycling throughout the EU. An estimated 10% to 17% of all gypsum used in the wallboard industry becomes recyclable scrap, which represents approximately 1% of the total waste stream in North America. In the United States, 2.5 to 4.5 Mt of gypsum scrap is generated each year; the volume is similar in Europe (the percentage of total tonnage is less because of the higher use of brick and concrete). The Greater Vancouver region of British Columbia has banned gypsum from its landfills, and as a result, all gypsum scrap is now recycled. New West Gypsum Recycling, a Canadian firm, uses its proprietary technology to process large quantities of gypsum scrap that is reincorporated into new wallboard, at percentages ranging up to 25%. The operation of New West Gypsum Recycling Inc. of Langley, Vancouver is examined as a case study and recommendations are provided as to how other urban regions can implement similar gypsum scrap recycling programs.

Jan 1, 2004

By Norman A. Jull

"Factors which affect the separation achieved in a hydrocyclone are discussed and illustrated with graphs of some mathematical relationships.Definitions of separation and sharpness include comment on use of elutriation devices.A plea is made for better evaluation of field data prior to their reporting or use in calculations. Methods of evaluation are suggested, with samples of the relevant calculations.An example of the effect of percent solids errors is given, with computer printout and plotted corrected recoveries.INTRODUCTIONThe range of interest in cyclones runs from a simple demand for classification results to a detailed study of published equations defining cyclone characteristics. Probably this group covers as broad a range and, in an attempt to offer something for everyone, I will begin with general operating comments, then move on to more analytical topics. Ideally, an author would compose his paper after the discussion period, when he would have a better idea of the areas of special interest to his audience.Sor'1e of you may share our incurable fascination with classification, especially as performed in cyclones. It is amazing that such a simple device could be in use for more than 20 years and retain as much mystery as it does. Substantial parts of the mystery have been solved but some remains, to keep up our curiosity. There is at least one valid reason: the unusual compactness of this device, which makes internal observation very difficult. What other unit can you think of which performs such a complex separation between particle sizes, shapes and specific gravities at such high capacity? Retention time in a cyclone is typically 3 seconds!Mutual Agreement - In a cyclone, every parameter of geometry and of operation interacts with every other. In an orderly discussion of individual parameters it would be necessary to repeat, in every section, 11 if all other factors are equal"". Could we agree now, for our mutual convenience, that that phrase is clearly understood between us during the remainder of this paper?"

Jan 1, 1972

By L. Bloomquist

This paper describes how Automated Mining Systems (AMS) is evolving the state-of-the-art in guidance systems for autonomous underground vehicles. The techniques, trade-offs, and lessons learned from these systems are described, including the safety regime that has been implemented. First generation autonomous guidance systems for underground vehicles relied on infrastructure for the vehicle to follow. However, there are additional costs associated with that approach. The current generation uses a pair of laser range finders as its only guidance sensors. This system uses a minimum of infrastructure, in the form of a redundant system of location referencing. Advanced steering and drive control algorithms are incorporated into this generation of system. The next generation of infrastructureless guidance systems will be based on a 3D vision sensor, which was originally developed for autonomous Mars rovers and is being adapted for underground mining use. Results of early underground field trials are presented, along with a description of this emerging technology.

Jan 1, 2004

By Peter Hayes, Evgueni Jak, Taufiq Hidayat, David Grimsey, Denis Shishin

"An integrated nickel flash smelter is operated with Peirce-Smith converters at the Kalgoorlie Nickel Smelter. To improve the partitioning of arsenic between slag waste and matte product, an option to modify the slag–matte chemistry by addition of CaO was analysed. A combination of plant sample analysis, high-temperature laboratory experiments and thermodynamic modeling was carried out to evaluate the process options. The high-temperature experiments involved the re-equilibration of industrial matte-slag samples at 1225 °C and P(SO2) = 0.12 atm, rapid quenching in water, and direct measurement of phase compositions using electron probe X-ray microanalysis (EPMA) and Laser Ablation Inductively Coupled Plasma Mass Spectrometry (LAICPMS). A private thermodynamic database for nickel sulfide smelting and converting was used together with the FactSage thermochemical software package to assist in the analysis of the distribution of elements between slag and matte as a function of CaO addition. The thermodynamic predictions combined with experimental data obtained in this study can be used to characterise the effect of CaO fluxing on the slag–matte thermochemistry during the nickel sulfide converting.INTRODUCTION At the Kalgoorlie Nickel Smelter (KNS), nickel sulfide concentrate is processed in an Outotec-type flash furnace to produce nickel matte containing +47 wt% Ni. Separation of nickel matte and waste slag from the flash smelting is enhanced through settling in the electric arc -heated zone attached to the flash furnace. The flash furnace matte is further processed in a Peirce-Smith converter to produce Ni-rich matte containing +66 wt% Ni (Crundwell, Moats, Ramachandran, Robinson, & Davenport, 2011). Iron silicate-based slag is used in the converting process at KNS. Most of the arsenic is contained in the final matte and very little of the arsenic partitions into the slag. Previous work by Font et al (Font, Hino, & Itagaki, 2003) shows that the distribution ratio of arsenic between calcium ferrite slag and nickel-matte (LAsslag/matte) is significantly higher than that between iron silicate slag and nickel-matte, where LAsslag/matte = (wt pct As in slag)/{wt pct As in matte} (1)"

Jan 1, 2017

By P. West-Sells, B. Wassink, N. Fisher

Gold leaching from a commercial cyanide-amenable gold ore was studied at 25°C using sodium bisulfide-hydrogen sulfide solutions containing elemental sulfur. Gold extraction from the ore using 0.55 M NaSH, 4.1 atm (60 PSI) H2S, 1 g/L S8 and 26% solids by weight was about as good as the best extraction obtained by cyanidation. Maximum extraction was achieved in roughly 48 hours. Sulfur dissolves in the bisulfide solutions to form a mixture of polysulfides. Simple speciation calculations indicate that gold solubility as bisulfide complexes should be roughly ten times higher than in the absence of added zerovalent sulfur. The principal bisulfide complex is believed to be [Au(HS)2]-. Gold dissolution is favoured by increasing HS- concentration and by increasing H25 pressure. Polysulfide complexes of gold are also likely to be formed, and may contribute substantially to gold leaching. Two experiments using pure gold were also performed. Up to 100 mg/L gold was dissolved in 140 hours using 0.55 M NaSH, 1 g/L added elemental sulfur and 6.2 atm H2S.

Jan 1, 2005

By L. Bloomquist, C. Arnoldi

"This paper describes how Automated Mining Systems (AMS) is evolving the state-of the- art in guidance systems for autonomous underground vehicles. The techniques, tradeoffs, and lessons learned from these systems are described, including the safety regime that has been implemented.First generation autonomous guidance systems for underground vehicles relied on infrastructure for the vehicle to follow. However, there are additional costs associated with that approach.The current generation uses a pair of laser range finders as its only guidance sensors. This system uses a minimum of infrastructure, in the form of a redundant system of location referencing. Advanced steering and drive control algorithms are incorporated into this generation of system.The next generation of infrastructureless guidance systems will be based on a 3D vision sensor, which was originally developed for autonomous Mars rovers and is being adapted for underground mining use. Results of early underground field trials are presented, along with a description of this emerging technology."

Jan 1, 2004