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By Eduardo Lozano, Vilem Petr

This paper provides an overview of a new method for avalanche control using a high explosive charge placed at the avalanche runout zone: the case charge technique. This new avalanche control technique is well-suited to mountain roads presenting several advantages over the existing methods: minimum deployment time, low cost, reduced probability of misfires, and decreased operation time in the avalanche danger zone. The research work presented in this paper was conducted via large scale laboratory experiments where the detonation velocity and the blast physical properties were measured. During the charge design, several parameters were controlled: charge mass, diameter, geometry, density, and external confinement. In addition, the effective range of case charges was increased by the use of the Mach reflection for certain topographical situations. Finally, field test results collected by the Colorado Department of Transportation (CDOT) during the 2017 winter season are presented. The CDOT avalanche control crews have adopted the new case charge as the preferred technique in numerous avalanche locations along the Rocky Mountains roads.

Jan 1, 2018

By K. G. Thorne, L. J. Cabri, L. R. Fyffe, D. R. Lentz, D. Hoy

"Mineralization at the Main zone of the Clarence Stream gold deposit in southwestern New Brunswick occurs within a parallel series of quartz veins that occupy a NE-trending, steeply north-dipping, brittle-ductile shear zone related to the nearby terrane-bounding Sawyer Brook fault. This deformation zone cuts volcaniclastic sedimentary and volcanic rocks of the Silurian Waweig Formation, and is intruded by mantle-derived East Branch Brook gabbroic dikes and a number of felsic dikes. Intermittent shear-zone reactivation during local magmatic activity induced heterogeneous deformation and alteration of the country rocks and dikes. The terminal phase of shearing is associated with narrow pegmatite-aplite dikes that grade laterally into granophyric granite, and into an auriferous quartz vein. Gold, aurostibite, and gold-antimony intergrowths, predominantly with vein quartz, are associated with a low ƒO2 sulfide mineral assemblage (pyrrhotite, arsenopyrite, and berthierite) that has a sulfur isotopic signature consistent with a magmatic source. Gold saturation and deposition occurred episodically between 300° and 360°C at low activity of sulfur, predominantly in response to pressure reduction during brittle failure combined with the effects of decreasing temperature and sulfidation reactions during fluid-wall-rock interaction. Geochronological studies demonstrate that the timing of the emplacement of the pegmatite-aplite dikes and associated auriferous veins overlap with that of the Early Devonian Magaguadavic granite. Moreover, the composition of the dikes is consistent with their derivation from this granite as late fractionates. The Main zone of the Clarence Stream deposit is therefore interpreted to be intrusion-related, with the Magaguadavic granite being the ultimate source of the gold-bearing fluids. La minéralisation de la zone principale du gisement aurifère de Clarence Stream dans le sud-ouest du Nouveau Brunswick occupe une série de veines de quartz parallèles dans une zone de cisaillement fragile-ductile de direction NE et à pendage abrupt vers le nord apparentée à la faille de Sawyer Brook avoisinante qui délimite deux terranes. Cette zone de déformation recoupe les roches volcaniclastiques et volcaniques de la Formation de Waweig d’âge Silurien et est recoupée par les dykes de gabbro d’East Branch Brook, d’origine mantellique, ainsi que par divers dykes felsiques. La réactivation intermittente de la zone de cisaillement durant l’activité magmatique locale a entraîné la déformation et l’altération hétérogènes des dykes et de l’encaissant. La phase finale du cisaillement est associée à de minces dykes d’aplite-pegmatite qui passent latéralement à des granites granophyriques, puis à des veines de quartz aurifères. L’or, l’aurostibite et les intercroissances d’or et d’antimoine principalement associées aux veines de quartz sont associés à un assemblage minéral de sulfures à faible ƒO2 (pyrrhotite, arsénopyrite et berthierite) présentant une signature isotopique du souffre compatible avec une source magmatique. La saturation en or et la précipitation a eu lieu épisodiquement entre 300° et 350°C dans des conditions de faible activité de souffre, principalement en réponse à la baisse de pression durant la rupture fragile ainsi qu’aux effets de la baisse de température et aux réactions de sulfuration durant l’interaction entre le fluide et l’encaissant. Les études géochronologiques indiquent que l’âge de la mise en place des dykes de pegmatite-aplite et des veines aurifères qui leur sont associées coïncide avec le granite de Magaguadavic, d’âge Dévonien Précoce. De plus, la composition des dykes est compatible avec une origine provenant de ce granite sous la forme de phases fractionnées tardives. Le gisement principale (Main zone) de Clarence Stream est ainsi considéré comme étant associé aux intrusions, le granite de Magaguadavic étant la source ultime des fluides aurifères."

Jan 1, 2008

By B. Caro Vargas

The Toulon South Tunnel in France is the second part of a project started 20 years ago. After the problems and delays suffered during the construction of the North Tunnel, due to a complex geologic context of highly fractured and soft rocks under a highly urbanized environment, a very dense automatic monitoring system was implemented to control the settlements of surface (more than 1000 points), the structures adjacent to the tunnel alignment and the underground galleries being constructed. The latest automatic instrumentation systems were installed, using for example AMTS capabilities in terms of ?automatic prismless settlement monitoring?. All the data (geotechnical, structural and geological) was gathered in a global automatic data acquisition system and continuously available on a web based interface. Three different threshold levels (notification, anomaly, alert) were set up, each one with a differential and an absolute value for settlements. Depending on the actual geological site conditions and the actual monitored settlements, different supporting systems and excavation techniques were used. Furthermore, the monitoring data was also used to predict and anticipate the future settlement, by comparing it continuously with the theoretical Peck settlement curves. This method allowed a better risk management by limiting the settlement on existing structures and helped to secure the Works progress schedule, for a project that lasts from July 2007 to March 2011. The implementation of this observational method application is presented in this paper.

Jan 1, 2012

By Ulf G. Gwildis

The Bright water Conveyance System includes 21 km of tunnels mined by two earth pressure balance Tunnel Boring Machines (TBMs) and two slurry TBMs. The probabilistic baseline approach defined in the Geotechnical Baseline Report (GBR) can representatively be verified by use of a comprehensive tracking system to identify face conditions that allows comparison with the baselines. The glacial geology includes a high lateral variation in soil types that, when combined with the pressurized face tunneling methods, creates challenges for documenting face conditions. Baseline tracking using spoil samples and TBM operational parameters provides information to document actual conditions and support resolution of differing site condition claims.

By Keith Jones, Michael Francis

Contract 240 of the Channel Tunnel Rail Link comprises construction of twin4.7 km long running tunnels through a densely populated area of East London. The tunnels were constructed by EPBM in Sands and Sandy Clays, passing 4.4 m below the existing London Underground tunnels, and at depths of 20–30m below ground level beneath the Great Eastern railway lines into London Liverpool Street and a series of railway bridges and hundreds of buildings. This paper describes how the project team managed the challenges relating to the issue of settlement: mitigating settlement effects, prioritising the structures to be assessed, controlling resource expenditure by incentives and flexible response to urgent work relating to unforeseen events such as ground collapse and discovery of unusual structures.

Jan 1, 2005

By Wawa Jaka Sungkawa, Slamet Rachman Jaka, Tom Dermody

Nowadays, with such a focus on environmental protection, surface mining activities have come under pressure to ensure their activities do not adversely affect the local surroundings. As part of the extractive process, blasting activities are an integral part of a mining company’s operational cycle. Consequently achieving beneficial blast results while complying with environmental requirements has become a key focus. This especially is the case when firing blasts within close proximity of residents where additional control measures need to be implemented to control vibration. One case where this occurs in Indonesia is in the Paringin Pit, one of the operational areas of the company's. The pit has complex geological conditions and is surrounded by several residential areas. Between 2014 to 2017 there were 12 cases of ground vibration exceedance due to blasting. As part of a continuous improvement project the company's targeted minimizing the vibration exceedance in this area. A project was undertaken to research and develop a method to confidently predict vibration. It was decided that the scaled distance formulas were not adequate to predict vibration when using non-electric detonators, as accurate wave propagation could not be achieved. The problem is how to manage of complex geology condition related with wave propagation in ground vibration control. Geological condition mapping with specific spatial range can and combine with Signature Hole Analysis be a solution to make wave propagation easier to accommodate in ground vibration control. With this new approach geological condition mapping with specific spatial range was produced that would minimize vibration while ensuring beneficial blast results. Introducing the new prediction produced nil cases of vibration exceedance in 2018 and beyond and proved that the Signature Hole Analysis in specific spatial range of geological condition is the preferred method to optimize blast result and maintain vibration control.

By Lance A. Roberts

Micropiles are commonly utilized for applications other than foundation retrofit. In bridges, for example, micropiles can serve as the permanent foundation elements or can be used in temporary support applications. In this paper, a case study on the use of micropiles for the 18th Street Expressway Bridge rehabilitation/repair project in Kansas City, Kansas is presented. In the project, micropiles were utilized for support of six temporary jacking structures, which allowed the bridge to be lifted while repairs were completed. A group of six micropiles was required to support each jacking structure. The required compressive service load per micropile was approximately 300 kips (1300 kN) and the settlement of the micropiles under the service load was to be limited to 0.5 in. (12.7 mm). Two field compression tests were conducted as part of the project. The field load test data was integrated within a soil-structure interaction capacity approach in order to analyze and permit the shortening of the design bond length for the production micropiles.

Jan 1, 2009

By Lianyang Zhang

For optimal design of rock socketed shafts used to support axial loading, it is important to predict the end bearing capacity. The existing empirical methods for determining the end bearing capacity of rock socketed shafts use the empirical relations between the end bearing capacity, qmax, and the unconfined compressive strength of intact rock, sc. Since rock socketed shafts are supported by the rock mass (both intact rock blocks and discontinuities separating them) not just the intact rock, one should consider not only the intact rock properties but also the influence of discontinuities when determining the end bearing capacity. Although the effect of discontinuities may have been implicitly (partially) included in the empirical relations derived from the results of load tests, it is not clear how big the effect is and how much of it has been included. In this paper, a database consisting of 50 test shafts, 25 of which contain the RQD (rock quality designation) value, is developed. Using the database, the applicability of the existing empirical relations is evaluated and two new empirical relations between the end bearing capacity, qmax, and the unconfined compressive strength of rock mass, scm, are derived. The new empirical relations explicitly consider the effect of discontinuities by using scm which is directly related to RQD. Finally, an example is presented to demonstrate the application of the newly derived relations.

Jan 1, 2008

By David Clarry

?The issue ?reduction requirement ?Planning abatement steps ?Energy Management & Energy Efficiency ?Energy Recovery / Utilization ?Alternative Energy Professional Services Overview ?Capital Projects and Construction ?Project Development and Planning ?Engineering ?Project management ?Construction management ?Consulting ?Process ?Business ?Environmental ?Technology ?Operational Services ?In-house engineering services for operations

May 1, 2009

By Selwyn G. Blaylock

There is no more important problem today than industrial relationship, and probably none that is receiving more thought. But in these days of Epie and Utopia, one has to be rather careful in speaking on this subject. Consequently, for fear that my plea for taking the working man into the family might be misconstrued, by some, as a step towards communism or socialism, I would like to say at the outset that I believe that, so long as we have human individualism, human ambitions, human hopes and fears, straight socialism is as far off as the Millennium. The same applies to communism, which only differs from socialism in that the communist realizes that his ideals can only be attained by massacring millions and destroying all that we hold sacred. Each still looks to Russia for inspiration and guidance, totally disregarding the Soviet swing-back to individual contract work and differential wage scales. They seem to be oblivious of the tyranny and repression in the present Russian system, and get very restless when reminded of it. In spite of the fact that the standard of living in civilized countries has improved tremendously and is still improving, we find that, every seven or eight years, production in many lines has outstripped consumption, and we have had panics or depressions of greater or less magnitude, accompanied by extensive unemployment. It is evident to every thinking person that there must be no little inefficiency in the control of industry. For four long years, governments and industrialists have striven to find the key to solve the present problem. Many countries are getting back to a position approaching normal-Canada probably more so than most. None, however, can feel assured that they have actually cured the situation. All kinds of schemes have been developed; tariff barriers have sprung up over-night where none existed before; currencies have been inflated to gain added security in the home markets and to try to gain advantage in export trade; and each country watches the movements of the others with fear and mistrust. I am not prepared to formulate a full solution of our troubles, but I hope to be able to demonstrate the feasibility and wisdom of the type of industrial relationship I advocate, and also that it may be a large, and possibly an essential, step towards the solution of our difficulties.

Jan 1, 1935

By Aleksandar D. Bugarski, Robert J. Timko

Despite extensive research efforts conducted in the past decades, occupational health risks associated with exposure to nano and ultrafine aerosols emitted by diesel power equipment are still not completely understood. The complexity of physical and chemical properties of diesel aerosols, constantly changing with the implementation of advanced diesel emissions control technologies, make this task rather challenging. The objective of this paper is to identify and characterize nanometer and ultrafine aerosols emitted by diesel engines in the underground environment and evaluate the effects of selected contemporary control technologies on physical properties, chemical composition, and in-vitro toxicology of diesel aerosols. The physical and chemical properties of the nanometer and ultrafine diesel aerosols are to be characterized through a test series in the NIOSH Lake Lynn Laboratory experimental mine. The crucial part of the study has been development of a facility that allows researchers to generate field results with precision and accuracy characteristics of a laboratory environment. The knowledge obtained from this study should strengthen our understanding of the health implications related to exposure to diesel particulate matter and aid in assessing the potential of various control technologies for reducing this exposure.

By R. Grandori, L. Pellegrini

The construction of the La Joya hydropower plant (Costa Rica) was awarded by the Spanish power company, Union Fenosa, to the Italian Joint Venture formed by the companies SELI SpA and Ghella SpA. The project, located in a mountainous region of central Costa Rica, includes a 7.9-km-long head race tunnel having an excavation diameter of 6.18 m. A double-shielded TBM was selected to perform the tunnel excavation, which involved mainly volcanic rocks in variable but generally very weak conditions. The tunnel crossed long and continuous sections in completely weathered rock masses with no residual cohesion and with high water inflows. The paper describes and analyzes: The special methods adopted to overcome these sections with the TBM includ-ing face stabilization by chemical grout and foams as well small by-pass tunnels in the crown combined with TBM advance/support The grouting design and the grouting method that was implemented to meet the waterproof design specifications and restore the original groundwater level in the mountain The additional geological investigations performed to improve the knowledge of the rock mass in front of the TBM and the outcomes of these investigations The performance of the TBM in different ground conditions and on average along the entire tunnel Finally, the author’s comment about the possibility of implementing and improving the technologies experimented with in this project in future similar applications.

Jan 1, 2007

By Monique Pharand, Jeet Basi, Simon Hille

"High quality activated carbon is essential in the recovery of gold in Carbon-in-Leach (CIL), Carbon-in-Pulp (CIP), and Carbon-in-Column (CIC) circuits. Goldcorp’s Campbell complex at Red Lake Gold Mines (RLGM) experienced a period of low soluble gold (Au) recoveries during Q3 2013, during which time the processing plant saw higher than typical Au grades in the CIP tails solution stream. A technical review identified that the CIP circuit may be experiencing a carbon-fouling issue. To further understand the degree of fouling, and to troubleshoot the low recovery problem, samples of carbon were collected from the CIP, elution, acid wash, and regeneration circuits, and submitted for characterization test work. This paper summarizes the steps taken to remedy the carbon-fouling problem at RLGM resulting in increased overall Au recovery.Overview of Red Lake Gold MinesRed Lake Gold Mines is located approximately 450 kilometres northeast of Winnipeg, Manitoba, in Ontario’s western boundary region.All mining is carried out through underground operations, utilizing overhand cut and fill, underhand cut and fill, and long-hole mining methods. Ore types include: silica-replaced carbonate veins with free milling gold, siliceous replacement-type mineralization (rich with arsenopyrite) marginal to veins, broad disseminated sulphide mineralization along major shears, and some minor sulphidized chemical sediment-hosted ore. The operation is supported by two milling complexes: Red Lake, and Campbell.Process DescriptionThe Campbell processing plant's main unit operations consist of grinding, gravity concentrating, flotation, autoclaving, leaching, carbon-in-pulp (CIP), carbon elution and reactivation, electro-winning, bullion smelting/refining and cyanide destruction, and concentrate handling. A schematic of the plant flowsheet is shown in the figure below.BackgroundHigh quality activated carbon is essential in the recovery of gold at many CIP/CIL/CIC processing plants. At RLGM, gold-bearing ore is milled and cyanide is added to leach the gold from the solids into solution. The dissolved gold then comes into contact with activated carbon, and adsorbs onto its highly porous surfaces. Gold is then recovered by separating the activated carbon from the main slurry for further refining. As such, the characteristics and quality of the activated carbon have a significant and direct impact on overall gold recovery."

Jan 1, 2016

Unrelieved residual strains can influence the states of stress in rock masses. If cheap, stable structures are to be constructed in Tock in which large pressures are exterted by unrelieved residual strains, the pressures must be either utilized or neutralized. A photoelastic technique has been used to show that the release of residual strains in rocks is influenced by the mechanical properties of anisotropic rock fabrics. The relationships between directions of residual strain release and the attitudes of minor geological structures have been determined. For engineering design purposes it is possible to estimate the principal stress directions in rock containing unrelieved residual strains if the attitudes of such minor geological structures as foliation planes, lineations, and joints are known.INTRODUCTIONQuarry workers have long been aware that near-surface rocks may be highly stressed. In many cases the stresses are too large to be the result of gravitational loads. Dale (1923, pp. 34-35) gives many instances of deformation produced by the violent release of residual strains in quarry rocks. Coates (1963) has described powerful rock bursts and cases of rock deformation underground implying the existence of much larger stresses than are likely to result from present-day gravitational loads. The only explanation is that pressures of up to several thousands of pounds per square inch may be caused by unrelieved residual strains in rock.Instruments have been developed for measuring states of stress in rock masses. Most stress determinations in rock have been made on the assumption that rock behaves as a simple elastic material. It is now known that rock is a...

Jan 1, 1964

By F. E. Joyce

This paper describes the development of a process for producing manganese and iron pellet concentrates from low-grade manganiferous iron ores of the Cuyuna range by a two-stage sulfatization-reduction roast. First, the manganese minerals (7.5 percent manganese) were converted to water-soluble manganese sulfate by roasting in sulfur oxide gases at 700° C, then, the hematitic iron minerals (31 percent iron) in the hot sulfatized are were reduced to magnetite with simulated reformed natural gas in the temperature range of 350° to 425° C. Batch tests were made in a 3-inch-ID by 6-inch-long, gas-heated, stainless steel retort, and continuous countercurrent experiments were performed in a 2-inch-ID by 10-foot-long, electrically heated shaft furnace. Manganese sulfate was removed from the roasted product by leaching with water, and over 90 percent of the manganese was recovered in an oxide product (65 percent manganese) obtained by precipitation, drying, and thelmal decomposition of the sulfate. An iron oxide concentrate (60 percent iron) with an iron recovery of 75 percent was obtained from the water-insoluble residue by magnetic separation.

Jan 1, 1973

By B. Ramanathan

The results of a pile load test on a 1200 mm dia and 25 m long bored Cast-in-situ pile in soft rock is reported. The subsoil has a high N value of above 60 from 7 m to 21 m. The soft rock was observed below 21 m and N value exceeded 100. The theoretical calculations showed that the safe carrying capacity will be about 410 t. But the actual load test on the pile indicated that the allowable load is only about 140 t. This is attributed to the fact that the soil is cemented and loses strength due to remoulding caused by pile installation. It is concluded that great care should be exercised in determining the carrying capacity of piles in cemented soils and soft rocks and that 'N' value alone should not be used.

Jan 1, 1996

By H. S. Martin

The Phosphate Recovery Corporation operates three flotation plants, Nos. 1 and 2 concentrators about three miles northeast of Mulberry, Florida, and No. 3 plant at Wales, Tennessee. These plants represent the first commercial phosphate flotation operation and are also believed to be the largest nonmetallic flotation operation in the world at the present time. The details of this paper will be confined to plant No. 2, this being the newest and largest concentrator in Florida, and the flow sheet being practically the same as at plant No. 1. The No. 3 plant has been operated but a short time and has been shut down since December, 1932, on account of the decrease in phosphate rock production. The phosphate washers usually are located centrally on a known deposit so that about two hundred acres of ground can be mined economically to each washer location. The washers are moved to new areas when the distance becomes too great for economical pumping. The flotation plants are built either adjacent to a washer, so that current debris may be utilized, or on the site of a former washer where there is sufficient accumulated debris available for mining, and the flotation plants must also be moved from time to time. Most of the water used in the Florida flotation plants is recovered after passing through a circulating system where most of the fine suspended matter is settled out, but some make-up water is obtained from deep wells near the plant. Power is obtained from the Tampa Electric Co. through the distribution facilities of the International Agricultural Corporation. Flotation concentrate is hauled from the plant by trolley over the International Agricultural Corporation's trolley system, to the drying plant at Prairie, one mile northwest of Mulberry. Ore Treated In the pebble phosphate district of Florida, the phosphate mineral, or collophane, is usually found in horizontal beds of varying thickness

Jan 1, 1935

During the drilling campaign conducted between October, 1942; and May, 1943, to prove the extent of the scheelite deposit worked by King Island Scheelite N.L. at Grassy, King Island, Tasmania, 35 holes were drilled and 606 samples recovered and assayed for their content. Of these, 238 came from outside the limits of the orebody and were for the most part barren, although a few contained some scheelite. The present statistical analysis is made only of the 368 samples taken from diamond-drill cores of the orebody itself.Drilling Pattern and Sampling MethodsFrom the purely statistical viewpoint, it is realised that methods employed in selecting sites for diamong.-drilling, and of collecting samples from drill cores, do not give a completely unbiassed set of data for analysis. Fig. 1 is a sketch plan showing the relativepositions of the drillholes, which were inclined at an angle of depression of 50 deg. The pattern does not conform to a properly randomized and' regularly-spaced grid, the positions of the later holes being determined by the results obtained from previous holes.Statistically, the bias is, therefore, favourable. The unequal spacing of the drill holes and the lack of uniformity in direction of the lines along which the holes were drilled are unsatisfactory from the mathematical viewpoint; but it is realised that these irregularitiesare difficult to avoid in determining by the most economical methods the extent of such an orebody, and are dictated by geological rather than mathematical necessity.Sampling, also, is lacking in complete uniformity. Each sample is approximately 10ft. in length. However, owing to the fact that 100% recovery of core is rarely achieved, and actual lengths of samples taken are ,primarily governed by the length of the drill runs,and secondarily by lithological changes, there is a considerable amount of variation in the sample length.AssayingWith the exception of 28 samples from three drill holes all samples dealt with in this paper were assayed in the Melbourne University Ore-Dressing Laboratory of the Commonwealth Scientific and Industrial Research Organisation. These assays were given to the nearest 0.05% WOg as it was considered that more accurate determination was not possible. This fact has been taken into consideration in the frequency analysis below. The 28 assays determined by the Tasmanian Mines Department were given to the nearest 0.01%.

Jan 1, 1950

By K. Saito, Y. Miyauchi, T. Nishi, Y. Kizu

At Tokushima Plant of Nippon Denko Co., Ltd. high-carbon ferromanganese is produced by the electric furnace method using lump manganese ores and sintered manganese ores manufactured from fine manganese ores. However, the distribution of manganese ores is significantly uneven on earth, and their characteristics considerably vary by ore type. It is known from experience that the production of high-carbon ferromanganese by the electric furnace method depends greatly on material ores. Therefore, to maintain stable operation in the electric furnace-smelting field, it is important to identify the characteristics of each type of material ores in advance. Thus, we evaluated the high-temperature electric characteristics of manganese ores using the electrical conductivity measuring system developed by ourselves and provided the standards for determining ores and blending ratio necessary for stable operation of the electric furnace based on the evaluation results. This time we worked for optimisation of the high-temperature electric characteristics of sintered manganese ores through modification of the characteristics because the blending ratio of sintered manganese ores in the electric furnace is high. The electrical conductivity of sintered ores having various chemical components in a high-temperature region (up to 1 550°C) was measured using our electrical conductivity measuring system and high-temperature electric characteristics evaluating method reported at INFACON 9. As the result of the measurement, we revealed that the high-temperature electric characteristics of the sintered ores depend on their chemical contents and the sintered ores can be modified to those having excellent high-temperature electric characteristics by controlling their chemical contents, so that the resources can be effectively used.

Jan 1, 2004

A discussion on simulation tools to aid the development of robotics platforms is presented. The focus of the work is towards mining robotics platforms where operations are typically in unstructured, unpredictable environments and a high degree of dependability in their operations is required. It is argued that a test-based development approach leads to more robust solutions and faster development cycles than traditional single-track field-only development and that the key enabling technology for this development paradigm is the judicious use of simulation tools. The future direction of simulation for use in online applications such as active planning and as a means to assist tele-operation in high latency communication applications is also brief y considered together with the requirements for a useful simulation environment in terms of the simulator architecture. Finally, a case study is presented on the application of the discussed methodologies to an unmanned ground vehicle (UGV) for earth-moving tasks, which is being developed in an accelerated time frame with a transient development team.

Dec 6, 2010