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"It is projected that the reactivity of acid generating tailings and waste rock can be minimized by reducing the access of oxygen by placing these materials under water in natural or manmade lakes. A project under the MEND and B.C. AMO Task Forces has been in progress for four years to evaluate active and historic tailing sites in B.C. and Manitoba. The sophisticated geochemistry studies conducted on the interstitial pore water has illustrated encouraging results which are discussed. The additional studies which are needed to complete the scientific database for the study sites, for achieving regulatory and public approval and for the engineering of application of this method of control are outlined.IntroductionWorld wide research effort is in progress to find the solution to the acid mine drainage problem. A great deal is known about acid mine drainage but much work is required to find economic and effective approaches to the problem. Two coordinated programs have been initiated recently in Canada: the National Mine Environment Neutral Drainage (MEND) program and the British Columbia Acid Drainage Task Force.Disposal of tailings materials under a water barrier such as a natural lake, is thought to be one solution to prevent acid generation by preventing oxygen and bacterial action on the sulphide surfaces. The deposition of reactive tailings materials under water in natural lakes has been used historically at various mines in Canada. However, there has never been a thorough review of the long and short term impacts of historic sites which may provide crucial information to understand the physical, chemical and biological processes which are taking place.This paper provides a general overview of a series of studies which examine the general biophysical characteristics and the sediment geochemistry of four lakes where subaqueous disposal has been or is currently being used for acid generating tailings. The subaqueous disposal studies have been conducted from 1989 through 1991 and were initiated and supported by both research task forces. The objectives of this paper are to summarize the history and the background information of the studies conducted, the general results obtained from each lake, an overview of the major collective results and the additional work which is required to achieve the final objective of developing criteria for applying this technology in the industry."

Jan 1, 1992

By J. W. Sanger

The establishment of a central steam-heating system in Winnipeg and its inauguration in October, 1924, has attracted a considerable amount of attention. Not only does it excite the curiosity of the engineer, but it has stirred financial and civic bodies throughout Canada to such a degree that there is now a much keener general interest in this particular type of public utility than has been shown heretofore. This does not mean that we may expect a mushroom growth of central-heating systems in all our larger Canadian cities in the near future, but it does mean that the pioneer work which Winnipeg is now doing will undoubtedly be used to guide others in their judgment as to the feasibility of similar projects elsewhere. The success of the municipal hydro-electric system in Winnipeg, and the low rates for electricity resulting therefrom, was without a doubt the most important factor influencing the citizens of Winnipeg to venture into this new field. The events which led up to the central steam-heating proposal in Winnipeg are interesting.

Jan 1, 1926

By P. Pal Roy, R. B. Singh

"This paper focuses on a number of interesting results to establish the theory and principle of air-deck blasting. It also gives the mechanism of breakage that takes place in air-deck blasting under varying charge load conditions. With these aspects in mind, the mine management can implement this up-coming technology to enhance safety and higher productivity. IntroductionThe method of air-decking has become an increasingly popular technique in production and presplit blasting. In the blasthole, an explosive column is combined with an airchamber. The main aim of the technique is to control breakage through effective distribution of explosive energy and thereby enhance uniform rock fragmentation. An air column lowers the initial pressure of the explosive products and simultaneously increases the time of interaction for the detonation front with the surrounding rock, which enhances rock breakage.To study air-deck blasting, CMRI initially conducted experiments using indigenously developed, low-cost wooden spacers of different sizes and strengths. Air-deck blasting was first tried using these spacers in 1993 at Jambad OCP, ECL and Chasnalla OCP, IISCO. The experiments were extended in 1994 at Bermo Mine, DVC. The results were subsequently published by Pal Roy et al., in 1995. It is worth mentioning that the performance of air-deck blasting during this period was only compared with conventional blasting practices without going into detail of the theory behind the process."

Jan 1, 2001

By E. H. Smith

"The El Indio mine treats a complex mixture of copper and gold/silver ores at its plant located in the high Andes in Chile. The plant utilizes conventional crushing, grinding and flotation to produce a copper/gold/silver concentrate. Due to high levels of arsenic and antimony, the flotation concentrate must be roasted prior to custom smelting. The flotation tailings is leached and additional gold recovered from a CIP circuit. Present and future metallurgical developments are discussed in this paper. INTRODUCTIONIn late 1989, LAC Minerals purchased 65 % of Bond International Gold and as a result became controlling shareholder of the El Indio Mine through Bond and San Jose.El Indio is a world class, complex sulphide gold deposit located in the hydrothermal alteration belt of the Andes mountains in the 4th Region of Chile. The mine is located in the high Andes about 185 km east of La Serena at an elevation of 4000 meters. The 1450 workers at El Indio live in the mine camp at 3200 m and on days off are bussed to La Serena.The El Indio mine was started in 1979 by St. Joe Minerals Corp., bought by Bond in 1987 and subsequently by LAC in 1989. The mine has produced 2.7 million oz. of gold, 9.5 million oz. of silver and 170,000 t of copper since start of operation. The mill is currently operating at a rate of 2850 t/d and producing a copper/gold concentrate which is roasted to produce a copper/gold calcine and high quality, saleable crude AS2O3 . A small proportion of the precious metals are also produced as bullion from the leach circuit.Total production during 1989 was 224,197 ounces of gold, 1,309,342 ounces of silver and 26,968 tonnes of copper. The average cash cost of production for the period was U.S. $96 per ounce of gold, net of by-product credits. The average realized price was $5. 30 per ounce of silver and $1.14 per pound of copper."

Jan 1, 1991

By Kenji Koga

In order to derive the population distribution of gold nanoparticle morphologies as a function of size, highresolution electron microscopic (HREM) observations and structural analyses were done for over 4000 particles (3-18 nm) grown by an inert gas aggregation (IGA) source using helium. To obtain structural features threedimensionally and not to skip high-contrast images, twenty photos were taken for each particle by changing tilting angle of a specimen holder in combination with the through-focus procedure. For the reliable structural determinations, HREM images and their tilting sequences were directly compared with multislice-simulation results for icosahedral, decahedral and face-centered cubic morphologies, and finally the population distribution of each morphology was obtained as a function of size. In the present sample, icosahedral particles were dominantly populated over the whole observed size range and decahedral particles with non-spherical truncated bi-pyramid shape were secondly dominant. Even though a large number of sampling has been done, few crystalline particles were observed.

Oct 1, 2003

By J. Zou

Open-cut method is most widely used for shallow utility lines installation. In urban areas, unexpected utility lines buried underground potentially turn open-cut construction into a highly risky operation, increasing the construction cost while presenting additional safety hazards. Examples include: breaking existing water main leads to flooding the downtown area; hitting an unexpected gas line causes an explosion. To prevent those accidents, the current practice is to stake out the underground utility lines before the open-cut construction based on the as-built information collected from various utility companies and government agencies. However, the as-built information is not always complete and accurate. To verify the locations of some important utility lines and protect them against damages caused by open-cut construction, new techniques and technologies are used but have their limitations in revealing underground utility lines, such as hydro vacuum method and ground penetration radars (GPR). The emerging technology of ultra-wide band (UWB) radar holds the potential to provide a cost-effective, non-destructive detection method. In this paper, a critical review of current practices and established methodologies is given. The functionality and working mechanism of UWB radar technologies are described. Application potential in open-cut construction is demonstrated by conducting lab experiments. Testing set-ups for detecting unexpected utility lines in soil along with preliminary results are presented. The effects of soil moisture content on the detection range are discussed. Research findings are summarized and constraints are discussed in conclusions.

Aug 1, 2013

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 A. B. Cron, R. MacPhail, L. Melis, K. Armstong

"Mt. Milligan is a porphyry gold/copper deposit in north-central British Columbia. Diluted and mineable drill-indicated reserves total 449 million tons at an average grade of 0.013 oz gold/ton and 0.19% copper. Large-scale commercial development of the deposit will make Mt. Milligan Canada's third largest gold mine.Metallurgical investigations for the Mt. Milligan project were done in three phases: scoping tests in the first half of 1989; bench-scale work from October 1989 to April 1990; and a pilot plant program in May and June 1990. Various process alternatives for the recovery of gold and copper are described and results are presented. Net smelter return evaluations led to the selection of optimum process conditions for maximizing revenue from gold/copper flotation concentrates.The selected flotation circuit and basic design criteria are described. Forecast average recoveries over the presently-defined 20-year project life are 75.2% for gold and 90.5% for copper in a copper concentrate averaging 17.6% copper and 1.0 oz gold/ton. 1.0 PROJECT LOCATIONThe Mt. Milligan porphyry gold/copper deposit is located in northcentral British Columbia, 150 km north of Prince George, British Columbia. The site is at an elevation of 1,100 m in an area of logged, gently-rolling topography. Nearby communities include MacKenzie and Fort St. James. Climate in the area is moderate and there is direct road access to the property. A location map is presented in Figure 1-1."

Jan 1, 1991

By K. Barr, F. Grenier, J. Hettinger

"To reach the Hemlo Gold Inc. objective of becoming the lowest cost, safest Canadian gold producer while causing no environmental damage, management embarked from its inception on a strategy to build an organization which would foster employee involvement wherever possible. This paper describes the organizational structure and how various innovative concepts have been implemented.BACKGROUNDThe Golden Giant Mine in the Hemlo area of North Western Ontario is owned by Hemlo Gold Mines Inc. 50.1% is controlled by Noranda. The mine commenced operations in March 1985 at a modest production rate. After it reaches full production by the end of 1988, with completion of underground development work, the mine is expected to operate at 3000 t/d and produce in excess of 300,000 ounces of gold per annum. This makes it one of the three largest producing gold mines in North America.Two other companies, Lac Minerals and Teck-Corona, operate mines on either side of the Golden Giant Mine. Noranda Geco Division is located 55 kilometers to the north at Manitouwadge. The majority of Hemlo Gold's 270 employees live in Manitouwadge where a mix of accommodation was constructed and made available for purchase by employees. Bus transportation is provided to and from the workplace with modern coaches. The housing and transportation policies were implemented prior to start-up and designed to help attract and maintain good employees.As shown in Figure 1, the operation is divided into five operating and support departments with each reflecting a high degree of departmental control and responsibility. For example, the mill department is responsible for all aspects directly relating to the milling complex including safety, operation, mechanical maintenance, assaying, instrumentation, and environmental control. Similarly, the mine department is responsible for all phases of operation, mine engineering, geology, and maintenance of underground mobile equipment. The plant department is responsible for maintenance of hoisting plants and conveyances, underground stationary equipment, all site electrical services, surface buildings, housing and yard maintenance. Efforts are made at every level of the organization, from departmental organization to individual job assignments, to ensure responsibilities are clear and that they encompass complete functions."

Jan 1, 1988

By M. J. Michaud, M. J. Lavigne

"A cornerstone of any successful mining project is an understanding of the mineral assemblage and metal distribution comprising the deposit. Knowledge of the precise mineral/ metal zoning enables an operation to utilize different mining and processing methods optimized for different parts of the deposit. The Lac des Iles mine, located in northwestern Ontario, is one operation that depends on a good understanding of these issues. Current resources for the Roby Zone total 94.1 Mt grading 1.66 g/t Pd, 0.18 g/t Pt, 0.14 g/t Au, 0.062% Cu, and 0.053% Ni.The Roby Zone occurs within the gabbroic portion of the Lac des Iles intrusive complex and consists of three compositionally and texturally different ore types with variable PGE, base and precious metal contents. PGE occur as sulphides and bismuthotellurides in net-textured sulphides, coarse sulphide blebs and as finegrained inclusions within secondary silicates.Knowledge of the precise mineral/metal zoning has directly and indirectly improved several operational aspects, including resource modelling, mining, and processing. For example, metallurgical recoveries have been increased by up to 3% to 5% and concentrate grades have increased by up to 100%. IntroductionLac des Iles Mines Ltd., a wholly owned subsidiary of North American Palladium Ltd., owns and operates a 3000 t/d open pit mine and concentrate facility, located 100 km north of Thunder Bay in northwestern Ontario. The Lac des Iles PGE-gold-copper-nickel mine has been in commercial production since 1993 and in 1997, produced 1.8 million grams of palladium, 127 000 g of platinum, 114 000 g of gold, 438 000 kg of copper and 354 000 kg of nickel (North American Palladium Ltd., 1998).Under the Industrial Research Assistance Program (IRAP), a two-year study of the mineralogy of the Roby Zone was undertaken with a goal of improving the profitability of the mine. Geological mapping, petrography and geochemistry of the Roby Zone were completed during this study. Utilization of the detailed mineral/metal zoning identified as part of this study was implemented at the mine and shown to positively impact many operational aspects including mining and processing."

Jan 1, 2003

By A. J. Vivyurka

"This is a talk about the experiences that Rio Algom Mines Ltd. has had in the Elliot Lake uranium area trying to make the tailings more compatible with the surrounding environment. To get a better idea of the problem that we are associated with we have to go back to the location. The Elliot Lake uranium area is situated about half way between Sault Ste Marie and Sudbury and is about 20 miles north of Lake Huron. In 1950, uranium was discovered along the north shore of Lake Huron and by 1961 we had up to 9 mines operating in the area. Then the United States Atomic Energy Connnission withdrew their contracts so that at present there are only 2 mines operating. From all the mines that we had operating, we ended up with 7 tailings areas. From these 7 tailings areas we have 5 sites where we have active treatment or rehabilitation. There is the Pronto site where we are treating uranium tailings and copper tailings. There is the Lacnor-Nordic site which is located just out of Ellio Lake. The Milliken-Stanleigh site is in the Crotch Lake area. The Panel tailings is off the north end of Quirke Lake and finally there is the operating property of Rio Algom Mines at Quirke Lake.To understand fully the problem with this rehabilitation we have to look at the constituents of the ore. The ore body is a quartz conglomerate with uraninite and brannerite as the uranium bearing minerals in a fine ground mass of quartz, sericite and pyrite which separates the larger quartz pebbles. The approximate composition of the ore is: 80% quartz, 13% chlorite, 7% pyrite and 0.2% uranium minerals. The processing method also adds a few constituents to the final tailings."

Jan 1, 1975

By D. M. Wyslouzil

"Micron or sub-micron size gold inclusions in sulphide minerals cannot be extracted by conventional cyanidation. The gold surfaces must first be exposed by decomposition of the sulphides. As an alternative to roasting, pressure oxidation was found to be a most satisfactory method to decompose the sulphides and expose the gold particles. For cyanidation the pressure oxidation pulp has to be neutralized and stabilized with lime. It was found that thiourea can extract the gold directly from the pressure oxidation pulp without pH adjustment and oxidant addition. The main obstacles against the common use of thiourea are circumvented by a recently described control method of the emf during leaching.INTRODUCTION Amalgamation and cyanidation are the most conventional processes for gold extraction. The prerequisite for gold extraction is the possibility of gold surface to be contacted by mercury or by the cyanide solution. Encapsulated gold has little chance of contact and this leads to poor extractions.The reasons why a gold ore may be refractory are: micron or sub-micron size gold particles included in the sulphide minerals, such as pyrite and arsenopyrite; presence of and association with antimony, arsenic, tellurium and carbonaceous minerals. Some alternative processes, such as double oxidation(1,2), pretreatment with lime , H202, chlorine and Caro's acid, roasting and thiourea leach, have solved some of the problems of ""refractory"", but the sub-micron gold in sulphide minerals still shows little response. Roasting and the cyanidation of the calcine was one of the most successful approaches for this type of gold ore.There are two disadvantages to the roasting process: (1) the generation of sulphur, arsenic, antimony and mercury containing gases is undesirable and the control is extremely expensive; (2) gold particles might be fused in the roasted product and the oxidized base metals in the calcine might reduce the cyanidation efficiency. In recent years the pressure oxidation process has been considered as one of the more effective and satisfactory methods to decompose the sulphide minerals and expose the gold surface to the cyanide leach solution. The pollution problem could be better controlled and the gold extraction is more amenable."

Jan 1, 1985

By J. R. Goode

"Coarse ore sorting is here defined as the physical separation of a mixture of coarse (+3/8 inch) ore particles into two or more separate groups of total value greater than that of the unsorted ore. An ore will probably be sortable if the geology of the orebody and the mining practices employed meet conditions outlined in this paper.The paper points out how sorting can substantially reduce tonnage variable operating costs because sorting can double the mill head grade of amenable ores by rejecting waste rock from the mine output. The effect of sorting on ore reserves is outlined. It is also suggested that sorting is a low cost alternative to conventional expansion.The mode of operation of the Ore Sorters Kadel 13 Photometric and MK VI A Radiometric sorters is detailed. The report concludes with detailed descriptions of the photometric sorting plant operated by the Doornfontein Gold Mining Company is South Africa and the Radiometric Sorting Plant presently under construction at the Schwartzwalder mine of Cotter Corporation in Colorado."

Jan 1, 1975

"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

"This generic study has been developed in response to the frequently asked question, ""That is the best treatment route for refractory gold ore?"". The study has developed operating and capital costs for many potential treatment routes and they are presented here in a generic form. All costs are in relation to the value of 1.00 given to the base case, a 1000 mtpd bio-oxidation plant, operating at 25% solids and 72 hours residence time.There is unfortunately no simple answer to the above quest ions. The treatment of refractory ores is a complex subject, with many variables, such as mineralogy, chemistry, environment and tonnage. However this study does offer information and relative numbers that we believe will be of assistance to gold metallurgists in obtaining a ""first shot"" at estimating costs.Equally, this technology is a rapidly evolving one. As more plants are commissioned, and test programs completed, better data is constantly being generated. For a generic study of this type to remain useful it will need regular updating and adjustment."

Jan 1, 1989

By Karl J. C. Harries

"4.1. INTRODUCTIONThis chapter, although divided into four parts, deals with only two principal topics. The first briefly describes and discusses some common types of property interests and considerations relating to them and the second deals with entering upon privately owned lands and obtaining the consent to do so.It should be noted that the terms “mining rights” and “mineral rights” are used interchangeably. As so used, they include the right to exploit the minerals and dispose of them for the benefit of the owner/lessee. This is relatively common in common law jurisdictions. In some jurisdictions, the two terms have distinct meanings, with “mining rights” referring to the right to work or exploit the minerals and “mineral rights” referring to the minerals themselves.Finally, it must be mentioned that the comments in the Introduction and §§ 4.2., 4.3. and 4.4. are based primarily upon Ontario law and Ontario’s mining and real property systems of registration. They have been included for illustrative purposes.4.2. LICENCES, CLAIMS, AND LEASESIn most jurisdictions, there are several basic types of interests that can be obtained from the state for mining purposes and that are of interest to the explorationist, as opposed to the operator. Different jurisdictions will have variations of these and possibly some extra ones that will address special purposes or local concerns. In virtually every jurisdiction, privately owned property rights are obtained through negotiation between owner and acquiror.Exploration or prospecting licence. This licence grants to the holder the right to prospect over a large tract of land and the exclusive right to acquire mining claims within that tract for the term of the licence. Such licences are usually negotiated documents requiring a minimum expenditure during the first year (often secured by a deposit or surety bond) and minimum annual expenditures thereafter to continue the licence in force up to its full term. The term will rarely exceed four years. The number of claims permitted to be staked will be limited in some way, possibly as to a maximum aggregate area or a maximum number of claims per annum. It is normal for the holder to have to drop part of the licensed area each year, so that the area shrinks annually, although exploration expenditure requirements will usually increase.These types of licences are usually used by governments to encourage exploration of otherwise unattractive or remote areas, such as the far northern parts of some of Canada’s provinces. They do not grant any real property interest in the area for which they are issued, and they will be subject to any claims or property rights that exist in the area. They are contracts with the state that grant certain exclusive rights in return for commitments to carry out work. They may or may not be specifically authorized by statute."

Jan 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

By F. Channier

The paper provides the most recent information on the construction of the AP60 phase 1 plant of Jonquiere which is due to be commissioned and started up in the first quarter of 2013. HSE management on site by RTA, and cooperation with local equipment manufacturers and contractors of the Saguenay-Lac Saint Jean region are highlighted in this section. The AP60 phase 1 Jonquiere plant aims to demonstrate of the AP60 technology at an industrial scale and allows the further developments of the AP60 cell. The advantages of the AP60 cell technology in terms of productivity, power consumption and environmental footprint are also briefly presented in the paper.

Jan 1, 2011

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