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By Pavel Vasak

Microseismic monitoring has become standard practice in the mining industry as a ground control monitoring tool at depth. Translating the information into practical hazard assessment tools for the rock mechanics practitioner is the focus of research jointly conducted at Creighton Mine by INCO Mines Technology Centre (MTC) and the Geomechanics Research Centre (GRC) in Sudbury, Ontario. Rock mass damage mechanisms are typically related to stress and the presence of geological structures. Due to well executed de-stress blasting practices at the mine, stress related problems are minimized. However, structurally related damage mechanisms associated with shear zones, faults and joints pose a substantial hazard. Identifying active structures from the dataset of seismic and microseismic events is generally problematic. We propose a new methodology that uses a combination of spacetime event density, hierarchical clustering and principal component analysis to identify planes of microseismic activity, termed active planes (APs). Once identified, the presence and intersection of active planes can be used to provide a hazard ranking for nearby excavations. The ranking is based on the standard Q rock mass classification system, with emphasis on the joint set number (Jn) and stress reduction factor (SRF) parameters. If the rock is treated as a fractured continuum, then, the Jn indicates the degree of freedom for blocks to move and hence, increased potential hazard. An increased hazard can also result if the APs are larger-scale and discrete (faults) rather than ubiquitous (joints). In this case the SRF is used as a measure of the degree of looseness in the rock mass.

May 1, 2004

By Ivan C. Machado

Jaguar Mining Inc. is implementing a 1.1 Mtpy, 7-year LOM gold project in the Iron Quadrangle (?Quadrilátero Ferrífero?), Brazil. Construction is on schedule and startup is programmed for Q2 2010. Mill feed grade averages 4.43 g/t and LOM gold production is estimated at 800,000 oz. The project entails two sulfide underground mines and three oxide/transition open pit mines. A state-of-the-art flotation/gravity concentration/CIP Plant has been designed based on testwork carried out by internationally recognized Canadian, U.S., and Brazilian laboratories. The mass recovery of the flotation section is only ca 10%, while its gold recovery is about 90%. Therefore, the CIP-ADR Plant will treat only 10% of the solids mass contained in the mill feed, while 90% will be fully cyanide-free material that will be partially used to feed a Backfill Plant. The leached tailings will be conveyed to a rather small tailings dam, whose 20- m3/h supernatant solution will be treated by a new electrolytic technology. The plant design contemplates a High Density Thickener for the cyanide-free rejects exceeding the backfill demand and a Regrinding Section before the Leaching Circuit. The estimated overall metallurgical recovery sits around 92%. This paper focus on the use of modern technologies to reduce costs, risks, and liabilities.

May 1, 2010

By Harold L. Gibson, Don H. Rousell, Ian R. Jonasson

"Abstract - The Sudbury Structure consists of three major components: 1) the Sudbury Basin; 2) the Sudbury Igneous Complex which surrounds the basin as an elliptical collar; and 3) an outer zone of shatter-coned and intensely brecciated footwall rocks. Although the Sudbury Event which formed the structure may be unique, the area has, in fact, been shaped by a series of tectonic, magmatic and mineralization events which can be considered in terms of two Wilson cycles of continental extension and closure. The first cycle, from 2500 to 1700 Ma, included the following events: doming (uplift of Levack Gneiss Complex); NE-SW extension (Matachewan dikes); N-S to NW-SE rifting (faults, mafic intrusions, sedimentation, and Ni-Cu-PGE and U mineralization); NW-SE extension (Nipissing diabase, and Ni-Cu-PGE, Ag, Co mineralization); and NW-SE and NE-SW closure (Penokean Orogeny, 1900 to 1700 Ma) with superimposed meteorite impact (1850 Ma, Ni-Cu- PGE, Zn-Cu-Pb deposits). The second cycle, from 1700 to 1000 Ma, included: N-S extension (alkali metasomatism, Au); N-S extension (hornblende diabase dikes along the Murray fault set); NNESSW extension (olivine diabase dikes); NE-SW extension (Fecunis Lake fault set); and NW-SE closure (Grenvillian Orogeny).The rich and diverse Ni-Cu-PGE and subordinate Zn-Pb-Cu and Au mineralization of the Sudbury region is related to endogenic and impact-triggered crustal extension and magmatism. The Sudbury Structure apparently was the site of a triple junction or hot-spot. The Sudbury ores, although located within an impact structure, are analogous in terms of age and tectonic setting to Ni-Cu-PGE and Zn-Pb-Cu ores elsewhere in the world. Meteorite impact accentuated on-going ore forming processes and magmatism at Sudbury."

Jan 1, 1997

By Harold L. Gibson, Don H. Rousell, Ian R. Jonasson

"The Sudbury Structure consists of three major components: 1) the Sudbury Basin; 2) the Sudbury Igneous Complex which surrounds the basin as an elliptical collar; and 3) an outer zone of shatter-coned and intensely brecciated footwall rocks. Although the Sudbury Event which formed the structure may be unique, the area has, in fact, been shaped by a series of tectonic, magmatic and mineralization events which can be considered in terms of two Wilson cycles of continental extension and closure. The first cycle, from 2500 to 1700 Ma, included the following events: doming (uplift of Levack Gneiss Complex); NE-SW extension (Matachewan dikes); N-S to NW-SE rifting (faults, mafic intrusions, sedimentation, and Ni-Cu-PGE and U mineralization); NW-SE extension (Nipissing diabase, and Ni-Cu-PGE, Ag, Co mineralization); and NW-SE and NE-SW closure (Penokean Orogeny, 1900 to 1700 Ma) with superimposed meteorite impact (1850 Ma, Ni-Cu- PGE, Zn-Cu-Pb deposits). The second cycle, from 1700 to 1000 Ma, included: N-S extension (alkali metasomatism, Au); N-S extension (hornblende diabase dikes along the Murray fault set); NNESSW extension (olivine diabase dikes); NE-SW extension (Fecunis Lake fault set); and NW-SE closure (Grenvillian Orogeny).The rich and diverse Ni-Cu-PGE and subordinate Zn-Pb-Cu and Au mineralization of the Sudbury region is related to endogenic and impact-triggered crustal extension and magmatism. The Sudbury Structure apparently was the site of a triple junction or hot-spot. The Sudbury ores, although located within an impact structure, are analogous in terms of age and tectonic setting to Ni-Cu-PGE and Zn-Pb-Cu ores elsewhere in the world. Meteorite impact accentuated on-going ore forming processes and magmatism at Sudbury."

Jan 1, 1997

By Marcel M. Djivre

Electromagnetic wire rope testing is the only practical non-destructive method to evaluate the current condition of wire ropes in general, and in the mining industry in particular. The method has been successfully used worldwide for decades. In mining it has considerably improved the safety of operations. Yet, problems persist. In particular both the Loss-of-Metallic-Area (LMA) readings, as well as the Local Fault (LF) readings, as obtained by different instrument operators, were found to be unacceptably diverse. Consequently, large sums have been spent internationally, as well as in Canada, comparing a whole range of these instruments in an effort to rate their performance. The published results clearly confirmed operational experience, namely that the LMA and LF readings were, indeed, unacceptably diverse. Excellent pertinent conclusions were also published. In Canada the authors? conclusion was that while the divergence in the LF signal based results could, possibly, be attributed to both hardware and human-error related factors, the LMA signal related quantitative uncertainties were human-error related. Consequently, much attention was paid in Canada to developing novel control methods, namely computerized ones to replace the more error-prone analogue ones. In addition new sensor-heads were developed, both for portable as well as for permanent installation with remote control operations. While these efforts were of considerable benefit, the situation must again be carefully reviewed with very special reference to deep-level mining, now of immediate concern in Canada as well. In this paper the authors supply an overview of the results obtained by three of the four major international projects referred to previously. Relevant conclusions/comments are also restated. Moreover, specific recommendations are put forward as to how current problems might best be remedied.

May 1, 2004

By Brigitte J. Dejou

The Red Dog sediment-hosted zinc-lead deposit is located in the Brooks Range thrust belt in northwest Alaska, approximately 1000 km northwest of Anchorage. The mine constitutes the primary deposit in a 400 square kilometre district, which hosts several other mineral occurrences. All the known mineralisation is hosted by the Mississippian Ikalukrok Member, deep basinal shale of the Kuna Formation, part of a Devonian to Cretaceous sedimentary sequence. The rocks underwent intense deformation during the Brookian Orogeny in Middle Cretaceous time. Several thrust faults juxtapose the stratigraphy. The Red Dog mine is composed of four deposits which together contain 105 Mt in resources and reserves for a total resource exceeding 18 Mt of Zn metal. The mine is an open pit with 25 foot high benches. The biggest challenge is not the Arctic conditions, but metal extraction, due to the fine grained nature of the mineralisation and the variability of the ore. The mine produces Zn and Pb-Ag concentrates that are shipped to smelters around the world from the Red Dog port facilities during the short summer period. Ore mineralogy is generally simple and consists of sphalerite, pyrite, galena and marcasite. The deposits are generally overlain by decametre thick exhalative barite horizons and exhibit strong silicification, which locally obliterates the original textures. Although described as a world class Sedex-type deposit, a large portion of the mineralisation exhibits sub-surface replacement textures. Moreover, unlike most other Sedex deposits, the reconstruction of the basin is made difficult by the structural complexity of the district. To assist exploration in the district, several assumptions are made regarding the deposit settings relative to metal source, growth faults or crustal extension.

May 1, 2006

By R. F. Hochstein, A. J. Neale, B. C. Flintoff

"Process control technology holds very significant potential benefits for many mineral and coal processing plants. The impact can be expected in terms of performance improvements (e.g. increased throughput, better quality control, higher availability), through reduced operating costs (e.g. lower reagent consumptions, manpower reductions) and in the form of intangibles (e.g. reduced vulnerability to manpower turnover, increased productivity in the user group). However, the installation of a process control system will represent considerable capital expenditure and will generate an operating cost. No management team would approve the funding for such a project without some reasonable measure(s) of the profitability of a proposed system. This paper describes a methodology for addressing the justification problem. Of particular interest is the approach to quantifying performance improvements, frequently found to be the predominant benefit of process control.INTROPUCTIONProcess control has become widely recognized as an essential component of any processing operation. It has direct impact on productivity, process efficiency and product marketability. The reported pay backs associated with successful installations underscore this observation. As a consequence, many operators who have little in the way of process automation are looking to initiate control projects, while those who currently enjoy some level of automation are looking to upgrade existing control systems (= process + instrumentation + hardware + software + operators + support). While the emphasis here would appear to be on retrofit process control projects, new plants, or those currently in the design stage, will usually find themselves in one of these categories shortly after startup 1."

Jan 1, 1990

By S. Espley, G. Tan

"Inco's Little Stobie Mine is a low-grade nickel operation producing approximately 4()()() tons per day. Backfill has never been an economical option at the mine; therefore, the only viable type of mining in the upper zones has been by sub-level cave. This mining method allows for the draw-down of a rock cover into the empty stopes to provide stability to the over-all rock mass. In the lower areas of the mine, bulk blasthole mining methods have taken place, without rock fill, resulting in extremely large open stopes. As the mine reaches its final stage of recovery, it is inevitable that the hangingwall of the large voids will undergo tensile failure via spoiling.This paper deals with the collaborating efforts of Inco's Rock Mechanics group and the Little Stobie mining operations toward the successful recovery of the ore zone remnants such that the inevitable failure, and time of failure, of the rock mass is ""controlled"". Within the mining scheme, several key requirements had to be met to satisfy the operations: (1) production rates; (2) good blast fragmentation; and (3) secure pulling-horizons. A full-scale rock mechanics study was carried out involving: numerical modelling studies; pulling ellipse analyses; blast design, monitoring and analyses; laser profiling; and time domain rej7ectometry (TDR) instrumentation. The final recovery scheme, employing a controlled failure, involves recommendations on: (1) blasting techniques; (2) support systems; (3) mining sequences and scenarios; and (4) monitoring systems."

Jan 1, 1994

By T. MacKinnon, M. C. Bétournay, D. Eastick, F. C. Delabbio, C. Graves

"The successful implementation of a new technology in an underground production mine requires many challenges to be overcome. These challenges include mine hardening of new technology, mitigation of safety risks and hazards, mine operation support, and technology transfer to mine staff. In the end, the majority of these challenges relate to the human aspects of implementation. The approach selected to overcome these challenges must be customized and appropriate for each unique situation.This paper outlines the approach used to address these challenges as part of successful implementation and resulting demonstration of the hydrogen fuel cell locomotive at the Placer Dome (CLA) Limited Campbell Mine. This technology demonstration at Campbell Mine is critical for determining technical, regulatory, and implementation aspects to be incorporated into future fuel cell prototypes such as the LHD project."

Jan 1, 2005

By M. W. Lewis

A mine's inherent capacity is dictated by factors such as equipment, design, people, processes, and environment. Actual production may approach, but never surpass, the inherent capacity limit. The inherent capacity ceiling can only be increased through re-engineering. Autonomous haulage systems have the potential to significantly increase a mine ’s inherent and realized capacity. Realized capacity may be maximized through the optimization of soft factors such as the processes, behaviours, and organizational systems, controlling asset utilization, availability, and performance. Truck shovel dispatching systems revolutionized the utilization of mobile assets. High-precision global positioning systems (HP-GPS) are increasingly being adopted to optimize equipment performance. Real-time maintenance management systems have the potential to revolutionize equipment availability and significantly reduce cash costs. This paper explores some of the solutions available to mines to increase their inherent capacity and maximize their realized capacity.

Jan 1, 2004

By M. W. Lewis, B. Sambirsky, J. Werner

A mine’s inherent capacity is dictated by factors such as equipment, design, people, processes, and environment. Actual production may approach, but never surpass, the inherent capacity limit. The inherent capacity ceiling can only be increased through re-engineering. Autonomous haulage systems have the potential to significantly increase a mine’s inherent and realized capacity. Realized capacity may be maximized through the optimization of soft factors such as the processes, behaviours, and organizational systems, controlling asset utilization, availability, and performance. Truck shovel dispatching systems revolutionized the utilization of mobile assets. High-precision global positioning systems (HP-GPS) are increasingly being adopted to optimize equipment performance. Real-time maintenance management systems have the potential to revolutionize equipment availability and significantly reduce cash costs. This paper explores some of the solutions available to mines to increase their inherent capacity and maximize their realized capacity.

Jan 1, 2004

By Jean M. Richardson, Steven R. Williams

"Geometallurgical mapping is a new team-based approach that documents variability within an orebody and quantifies the impact of geology (host rocks, alteration and structure) and mineralogy on grinding, metallurgical response and metal recovery processes. The quantitative, spatially constrained database that results can be readily integrated into 3-D block models and mine planning activities. Thus it is an important tool to reduce the technical risk associated with new mine developments or expansions.Normally undertaken during pre-feasibility or feasibility planning stages, the first step of geometallurgical mapping is to review the geology, mineralogy and other critical parameters and construct a geometallurgical matrix. This matrix provides an objective base to then guide sampling and/or compositing activity for physical property and metallurgical testing. Depending on the project, an array of testing techniques can be used to characterize the ore and feed data into the geometallurgical model.While the range and number of tests needed is project-dependant, the geometallurgical mapping approach allows the development of empirical models or interdependent relationships, grounded by spatially-constrained real data. Extensive data sets collected using less expensive testing methods can be meaningfully correlated with results from complex specialty tests to yield realistic metallurgical recovery data.With geometallurgical mapping completed, the resulting database can be integrated into an overall 3-D block mine model. This means that metallurgical response can be used to realistically forecast the recoveries of specific blocks, perhaps sampled only by drilling. Mine planning can then incorporate the forecasted metallurgical response and generate future project cash-flows; opening the door to economic optimization of the mine exploitation."

Jan 1, 2004

By Bill Mercer

The Triggers for PDAC Involvement in H&S ??Increase in serious accidents in mineral exploration in past few years ??Increasing junior role in exploration ?? Impression that there were few H&S protocols in place in smaller companies ??Lack of national benchmarking ?? The attitude that H&S is a provincial responsibility ??Corporate Social Responsibility initiative What is the issue in exploration? ??Mining?s reputation as ?dirty and dangerous? ??In public?s and media?s minds exploration employees are ?miners? ??In Canada, regulators often do not distinguish between ?exploration? and ?mining?. ??How does exploration compare to mining from a H&S point of view?

May 1, 2008

By Colin Hardie, Simon Pelletier, Rakan Rhabani, Guy Comeau

"In order to improve the nickel concentrate thickener operation at Raglan Mine, two pulp deaeration cyclones were installed. These units obtained from Outotec Pty Ltd, also called the FrothBuster®, have been in continuous operation since mid-October 2006. The primary objective of the de-aeration cyclones is to lower the solids content in the thickener overflow by de-aerating the concentrate pulp before it enters the concentrate thickener. This dearated slurry should help decrease the nickel particle losses that report to the thickener overflow because of the flotation effect within the thickener.Optimizing the de-aeration cyclones has been a slow and ongoing process, however, initial testing is encouraging. The latest test results indicate a 50 % reduction (0.070 to 0.035 % solids) in nickel losses to the concentrate thickener overflow resulting in an additional $350,000 in annual revenues.This paper will present an overview of installing the de-aeration cyclones within a limited space, as well as the preliminary commissioning and testing challenges. This paper will also discuss the most recent concentrate thickener operating results since the de-aeration units were installed.INTRODUCTIONThe Xstrata Nickel Raglan Concentrator, located at the northern limit of Quebec’s Nunavik Region has been in production since 1997. In early 2002, the concentrator implemented the Zero Process Water Discharge (ZPWD) project to recycle the process water to decrease fresh water consumption and reduce discharges to the environment. Due to this initiative, the chemistry of the process water changed significantly resulting in flotation concentrate streams, which were very frothy and difficult to manage. This phenomenon has resulted in operational challenges in many areas of the concentrator including slurry pumping, flow measurement and concentrate thickening.In October 2005, the Raglan Mine underwent a conversion from an AG mill to a SAG mill operation in order to increase throughput and to optimize key process areas. As part of this project, the first two North American pulp de-aeration (FrothBuster®) units from Outotec were installed to improve the operation of the concentrate thickener. The primary objective of the deaeration technology was to lower the solids content in the thickener overflow by de-aerating the concentrate thickener feed pulp. This in turn was to reduce the froth, which accumulates on the thickener surface, and more importantly reduce valuable nickel losses to the thickener overflow because of the flotation effect within the thickener."

Jan 1, 2008

By Ken Dyck Sr.

"Construction of the Cigar Lake uranium mine in northern Saskatchewan is well under way. Production is anticipated to begin in the first half of 2007. When in full production, the mine is projected to produce a net 18,000,000 pounds of U3O8 per annum from a high grade ore averaging approximately 20% U3O8.Water management was a major issue that required substantial effort in the Cigar Lake design. Not only is effluent quality controlled, a tight water balance to minimize effluent volume is also designed into processes in order to minimize environmental impact. This paper focuses on the water treatment process and water handling equipment, as well as the operating philosophies that will reduce fresh water consumption to a minimum. An overview of the mining and ore handling systems, as well as aspects of controlling water production from the ore formation and the mine development areas will also be discussed.INTRODUCTIONThe Cigar Lake ore body has proven and probable reserves that total 232 million pounds U3O8. Cigar Lake is the world’s largest undeveloped high-grade deposit. It is the second largest highgrade deposit surpassed only by the McArthur River deposit another Cameco - operated mine in the Saskatchewan Athabasca Basin. Cigar Lake is owned 50% by Cameco Corporation, 37% by AREVA (COGEMA Resources Inc.), 8% by Idemitsu Uranium Exploration Canada Ltd. and 5% by TEPCO Resources Inc. When production starts in 2007, ground ore slurry from Cigar Lake will be shipped to the McClean Lake mill (owned by AREVA) some 80 km away. All of the Cigar Lake uranium will be leached from the ore at McClean Lake. During initial production ramp up, all uranium will be processed at McClean Lake to yellow cake (uranium oxide). After the average production has exceeded a 10 million pound per year rate, Cigar Lake uranium will begin to flow from the McClean Lake Mill to the Rabbit Lake Mill. At this point, subject to regulatory approval, 57% of the Cigar Lake uranium, in a uranium rich solution, will be transported to Rabbit Lake mill (owned by Cameco) for purification to yellow cake. A complete summary of the flow of uranium from the Cigar Lake ore body through to product at both McClean Lake and Rabbit Lake can be found in a recent paper titled “The Cigar Lake Project – Mining, Ore Handling and Milling” in the March 2004 issue of the CIM Bulletin. The paper was written by C.R. Edwards."

Jan 1, 2006

By P. A. Riveros, W. D. Gould, R. Molnar, D. W. Koren, P. Bédard

This paper reports the results of the field demonstration campaign of a new process for removing and destroying ammonia from mining/ metallurgical effluent solutions. The 50-day campaign was carried out at a uranium plant in Saskatchewan, Canada. The process was developed by adapting and integrating two well established technologies: zeolite adsorption/ elution to extract the ammonia from the effluent stream and to produce a concentrated ammonia eluate; and conversion of the ammonia in the eluate to innocuous nitrogen by applying bacterial nitrification-denitrification (NH3 = > NO3 - => N2). The data show that reasonable target criteria were met, under very challenging operating conditions. Problem areas and possible causes for poor performance are identified. Preliminary and generic cost estimates of the process are also presented.

Jan 1, 2003

By Tatiana Ravani von Ow, Leandro Bomvisinho

"The size of mills driven by ring-gear or by a gearless solution has significantly increased in the last years. This has created additional challenges for the driven equipment. The requirements for the mechanical devices and the power grid have become more demanding. Controlled soft starting and operation, especially in dual pinion mills, as well as the protection of the equipment has gained importance. The selection of the drive solution for the mill therefore becomes more critical. Besides the classical criteria such as performance, efficiency and capital costs other factors come in the evaluation of the system such as flexibility and optimization of operation, reliability and the ageing of the grinding equipment.Variable speed solutions offer significant advantages over conventional fixed speed drives due to their application specific features and process optimization capabilities, even for ball mills where these are not seen yet as a must.The initial capital costs are higher than some of the direct on-line solutions however the benefits for the operation during the lifetime of the mill generated by the use of converter solutions justify the additional higher investment.INTRODUCTIONThe method of powering mills such as AG, SAG and Ball has a long and technically interesting history. It can be said; almost every decade in the last half century had its own trend. The trend was dominated by the market demand, by the process development and requirement of the mechanical and the electrical technology but mostly by the price of the applied technology.All has started about 50 years ago with mill diameters less than 20 feet driven by fix speed synchronous or wound rotor motors with the power of about 2 MW. Around 10 years later, the mill sizes increased, but the necessary torque could not be transmitted by one pinion therefore dual pinion solutions were developed to power the mills. However, realization of the dual pinion solution was only possible when load could be evenly shared between the two pinions."

Jan 1, 2010

"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 Hua-Zhong Yu

Gold is one of the most widely used substrate materials for self-assembly. Self-assembled monolayers (SAMs) prepared from alkanethiols and their derivatives on gold are the most reliable and well-studied systems to date, which have attracted much attention because of interest in two-dimensional molecular assemblies, and of their potential applications in molecular devices, sensors, and functionalized interfaces. Gold electrodes are also very important in microelectronics and electroanalytical chemistry. This work reports the characterization of a new type of gold substrates for self-assembly. The gold substrates are constructed from recordable compact disks (R-CDs) with simple and straightforward wet-chemical treatment, and can be made at desired sizes and shapes that satisfy different experimental needs. In particular, an easy, inexpensive, and reproducible method to prepare self-assembled monolayers (SAMs) on CD-R gold substrates after removing the protective polymer films with concentrated nitric acid was described.

Oct 1, 2003

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