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By R. K. Zipf

A method is presented for creating realistic numerical models for practical coal mine ground control. The method includes procedures to collect the necessary mechanical input parameters from a geologic core log, procedures to set up a model and procedures to interpret calculation results. The input parameters come from a detailed geologic core log and extensive point load tests of estimate rock layer strength. A suite of material property input parameters is proposed which allow the user to go from core log to numerical model inputs. Rock bolt anchorage properties are also linked to the material properties of each geologic layer in the model. Following this procedure leads to very realistic calculations of the rock failure process and rock support system behavior. These calculations in turn enable realistic comparison of the effectiveness of alternative rock support systems.

By A. C. Fieldner

The Sectional Committee on Classification of Coals, functioning under the sponsorship of the American Society for Testing Materials and the rules of the American Standards Association, in its 1934 report recommended to the American Society for Testing-Materials5 that Specifications for Classification of Coals by Rank be adopted as tentative. These specifications, slightly modified as recommended by the Sectional Committee, in its 1935 report,6 wore approved as tentative standards by the society in 1935. The specifications rover the classification of coals according to their degree of metamorphism, or progressive alteration, in the natural eerie s from lignite to anthracite. The basic scheme of classification is according to fired carbon and calorific value (expressed in B.t.u.) calculated to the mineral-matter-free basis. The higher-rank coals are classified according to fixed carbon on the dry basis, and the lower-ran]: coals according; to B.t.u. on the moist basis, that is, containing its natural bed moisture but free of visible surface moisture. Agglutinating and weathering indices arc used to differentiate between certain adjacent groups.

Jan 1, 1935

Experimental results are presented that test the hypothesis that the descaling behaviour of stainless steel slabs following reheating is controlled by interfacial roughening at the scale-steel interface. In this investigation, two stainless steels were considered: type 304 (austenitic, with 18% Cr and 8% Ni) and type 412 (ferritic/martensitic, with 11.6% Cr). It was found that the entanglement that arises at the scale-steel interface was in fact effective in maintaining scale-steel adhesion, under the mechanical descaling conditions used. In the case of type 304, descaling proceeded by fracture along chromite layers, which formed (by internal oxidation) on the austenite grain boundaries; for this steel, the extent of descaling depends most strongly on austenite grain structure, and not primarily on the conditions in the reheating furnace. In contrast, type 412 samples descaled only at the edge of the entangled zone, and showed a greater sensitivity to the reheating conditions; specifically, higher free oxygen in the reheating gas and longer reheating times were found to increase the residual scale thickness. Key words: stainless steel, reheating, scale, entanglement, descaling, fayalite, internal oxidation, grain structure, free oxygen.

Jan 1, 2003

By Ray Jambakhsh, Gabrielle Bourget

In the summer of 1998, Ontario Hydro awarded a contract to demolish an obsolete and inefficient chimney by blasting. The Ontario Hydro Thunder Bay Thermal Generating Station (T.G.S.), is a fully operational hydro thermal generating station located in Thunder Bay, Ontario, Canada. The Chimney was a 356 ft (108 m) high freestanding structure constructed of reinforced concrete with a brick liner. Falling the chimney required careful planning due to the highly sensitive structures and equipment which surrounded it. Damage either sustained to the existing systems through ground vibrations or direct contact would have resulted in expensive power outage and/or lost production. The role of Explotech Engineering Ltd. on this project was to provide and evaluation of the proposed demolition procedure, defme the predicted and maximum seismic vibrations at sensitive structures including underground services, conduct pre-blast / post-blast inspections and recommend various safety precautions. The general contractor for the project, LeBrun Northern Contracting Ltd., of Thunder Bay, Ontario was responsible for all site preparations and post-blast clean up. All demolition blasting calculations and operations were conducted by Dykon demolition experts from Tulsa, Oklahoma. On September 13, 1999, the chimney was successfully demolished. Extensive analysis of the vibration records and visual post-blast inspections of the surrounding structures concluded that the demolition event induced no damage to any of the Ontario Hydro facilities.

Jan 1, 2000

By John P. Davis

The use of conventional, circulatory air rotary and fluid rotary, cased and uncased drilling methods in the vicinity of sensitive infrastructure can have deleterious effects on the ground conditions surrounding and supporting structures and the structure itself. Furthermore, the use of these conventional methods offers the engineer or contractor little information about the condition of the subsurface during geotechnical applications. Conversely, sonic drilling measurements and samples can be used to evaluate actual conditions during the progress of exploration and construction across a given site. This paper will discuss the history and properties of sonic drilling and explore case histories of geotechnical applications for the advancement of boreholes within vulnerable structures and on sensitive sites for several recent infrastructure projects ? a tunnel and railroad project, a dam grout curtain project, a bridge micropile exploration project and a tunnel instrumentation project. Project summaries will discuss the advantages realized when the application of sonic drilling techniques demonstrated superior accuracy, quality control, efficiency, productivity, penetrability, waste minimization and adaptability when drilling adjacent to or within existing infrastructure. Finally, the discussion will address the current testing and application of sonic drilling to the installation of micropiles, earth retention anchors, grout injection and instrumentation installation where the quality control benefits provided by the inherent soil cores, measurement while drilling systems, accuracy and non-destructive production drilling features will be advantageous.

Jan 1, 2006

By Tiziana Apuani

The study refers to an area of about 70 km2, extended in the Italian Central Alps along the the San Giacomo Valley where different civil and mining works are present The regional geological setting is related to the Pennidic Nappe arrangement, characterized by the emplacement of sub-horizontal gneissic bodies resulting from the Mesoalpine isoclinalic folding of crystalline basements, emplaced throw East, and separated by matasedimentary cover units. The investigated geological rocks, belong to the ?Tambò?Unit, overlapped by its meta-sedimentary cover and by the ?Suretta? Unit. The tectonic contact gently dips to the E?NE. The valley, furrowed by the Liro Torrent, follows a N?S striking tectonic lineament, almost parallel to the nappe contact. A number of more then 70 sites, distributed in the studied area, were chosen and detailed structural and geomechanical field surveys were performed to characterize the rock masses, its intact rock and discontinuities. The procedure identifies the number of joint sets, their representative orientation, the set spacing, the type of movement, the amount of dilatation, the degree of alteration, the roughness coefficient, the presence and nature of infill. Rock mass quality indexes, such as the Rock Mass Rating (Bieniawski, 1989) or the Geological Strength Index (Hoek et al. 2002) have been evaluated in each surveyed site. The work is a contribute in assessing how the geometrical and geomechanical properties of the rock masses can be regarded as regionalized variables. The spatial distribution of these properties is a function of the geological and structural phenomena at which the rock masses have been subjected. The presented geostatistical analysis regards the spatial variation of the orientation of the most representative joint set.

May 1, 2009

By Rixon K. L

Hargraves (1983) has reviewed the phenomenon of instantaneous outbursts of coal and gas with special attention to Australian occurrences. The purpose of this discussion is to highlight some problems and omissions in his review that reflect particularly on the authors' structural geological investigations of outburst-prone coal seams.It is surprising to find that much of the authors' reported work has either been glossed over or the results distorted by Hargraves (1983) and it is, therefore, important to clarify the contribution that structural analysis of coal seams can make.For many years it has been known that faults provided preferred loci for gas outbursts (for example, Briggs 1920-21) but the roie that faults played in outburstprone seams was unclear. The present authors reviewed the association of faults and outbursts drawing upon local investigations and the world-wide literature (Shepherd et aI., 1981), and discussed some wideranging aspects that result from the high coincidence of faults and outburst sites. Without repeating large segments of this article the authors will discuss four aspects of coal seam faulting and fracturing.

Jan 1, 1983

By W. Wittke, J. Gattermann

ABSTRACT: One alternative to close a radioactive waste repository in rock salt is the construction of a “Cross Section Closure (CSC)“ sealing barrier. The proposed material for the CSC is highly compacted bentonite. To investigate the swelling behaviour of a highly compacted bentonite a large number of laboratory tests were performed. In addition, large scale model test were carried out to demonstrate the development of a nearly homogeneous and isotropic swelling pressure. The results of the large scale model tests were interpreted numerically based on the models for stress-strain behaviour and water uptake which are implemented in the finite element codes FEST03 and HYDOPO. The investigations show a good agreement of the results of the model tests and the corresponding analyses and show, that the theoretical models are capable of describing the behaviour of sealing structures based on highly compacted bentonite. ZUSAMMENFASSUNG: Eine Möglichkeit für den Verschluß eines Endlagers für radioaktive Abfälle im Steinsalz ist die Konstruktion einer Querschnittsabdichtung aus hochverdichtetem Bentonit. Zur Untersuchung des Quellverhaltens von hochverdichtetem Bentonit wurden eine große Anzahl von Laborversuchen durchgeführt. Um die Entwicklung eines nahezu homogenen und isotropen Quelldrucks nachzuweisen, wurden darüber hinaus auch Modellversuche in größerem Maßstab durchgeführt. Die Ergebnisse dieser Modellversuche wurden im Hinblick auf die Wasseraufnahme und das Spannungs-Verformungsverhalten mit Hilfe numerischer Berechnungen mit den finite Element Programmen FEST 03 und HYDOPO interpretiert. Die Untersuchungen zeigen gute Übereinstimmungen zwischen Versuchs- und Berechnungsergebnissen. Die numerischen Modelle sind somit geeignet, das Verhalten von Abdichtungsbauwerken aus hochverdichtetem Bentonit zutreffend zu beschreiben. RÉSUMÉ: Une possibilité pour fermer un dépôt final de déchets radioactifs dans sel gemme est la construction d'un étanchement de coupe transversale, fabriqué de bentonite fortement compacté. Pour étudier le comportement de gonflement de bentonite fortement compacté, de nombreux essais en laboratoire ont été exécutés. En outre, des essais sur modèle sur une plus grande échelle ont aussi été exécutes afin de prouver le développement d'une pression de gonflement à peu près homogène et isotrope. Les résultats de ces essais sur modèle étaient interprétés en vue de l'absorption d'eau et du comportement contraintes-déformations par le moyen de calculs numériques avec les programmes d'éléments finis FEST03 et HYDOPO. Les études montrent de bonnes conformités entre des résultats d'essai et de calcul. Les modèles numériques sont ainsi capables de décrire justement le comportement d'ouvrages d'étanchement fabriqués de bentonite fortement compacté.

Jan 1, 2003

By Oliver C. Ralston, and others

"INTRODUCTION Investigations of the Nonmetals Division are now conducted at College Park, Md.; Tuscaloosa. Ala.; Seattle, Wash.; and. Norris, Tenn. The last of these was acquired, this year by arrangement with the Tennessee Valley Authority and is engaged in electrothermel research, using power generated by the T.V.A. and. raw materials from that region. In general, the work of the division is concerned with dressing nonmetallic minerals end utilizing the products there-from. Coal, salts, and waters are investigated, and the suitability of apparatus and equipment is studied.As the Metallurgical. Division of the Bureau of Mines makes routine tests of certain nonmetallic ores under prescribed conditions for the public if they are of general interest, the published reports of that division should be read and thus, with the reports of tile Nonmetals Division, the whole field may be covered."

Oct 1, 1939

By P N. Holtham

Magnetic separation is routinely used in the processing of titaniumminerals, and the efficiency of these operations can be determined bymeasuring the magnetic properties of the process streams. The valuable components in the feed to a titanium minerals plant have specific magnetic susceptibilities ranging from -10-9 m3 kg-1 (zircon) to 10-6 m3 kg-1 (ilmenite). However, in an industrial environment, in which the mineral temperature may range from 20 to 120¦C, it is difficult to measure susceptibilities lower than about 10-7 m3 kg-1. Hence laboratory testing of spot samples from magnetic separators is currently required to obtain accurate performance data. This is an inherently slow process and where feed grades are variable, optimum performance of magnetic separators is generally not achieved.This paper describes the development of an inductance-basedinstrument for measuring very low levels of magnetic susceptibilityon-line. The signal from the instrument can be used for process control purposes to maintain optimum magnetic separator performance.A prototype instrument has been installed in the zircon scavengercircuit in an Australian titanium minerals plant. The circuit consists of a roll magnetic separator treating a feed consisting mainly of monazite and stained zircon. The monazite-rich magnetic fraction is returned to the mine site for disposal, while the non-magnetic fraction is recycled to the zircon wet circuit. Splitter positions in the separator are adjusted when the final zircon product fails to meet specification, or the magnetic fraction contains more than 30 per cent zircon. Weekly composite grain counts show that sub-optimal operation of the magnetic separator results in significant zircon losses into the magnetics fraction.Using the instrument, the zircon content of this stream can now beaccurately determined from the measured magnetic susceptibility,provided a correction for the effect of mineral temperature is applied using the Curie - Weiss relationship.

Jan 1, 2001

By Qingzhu Li

The brewing industry byproduct, spent grain (SG), was evaluated for its ability to adsorb Ag(I) from aqueous solutions. Ag(I) adsorption was dependent on solution pH, contact time, adsorbent dose, initial Ag(I) concentration and temperature. The kinetic data were well described by pseudo-second-order kinetic model, indicating that chemical adsorption was the rate-controlling step. The equilibrium data followed Freundlich isotherm rather than Langmuir isotherm, suggesting heterogenity of the adsorption sites on spent grain. Ag(I) desorbed from Ag(I)-loaded spent grain was also evaluated in this study. HCl, NaOH, Na2S2O3 and ultrapure water were chosen as eluants and desorbed Ag(I)-loaded spent grain for 30min, Ag(I)-loaded spent grain desorbed in 0.1M Na2S2O3 exhibited higher elution efficiency as compared with other eluants. The results indicated that application of spent grain for adsorption and recovery of silver from aqueous solutions was feasible.

Jan 1, 2009

By Gary Anderson

??Privately Held Corporation ??Incorporated in Delaware, May of 2002 ??HQ in Malvern, PA (just outside Philly) ??Approx 40 employees ?9 Field Engineers ?MSHA Certified ?10 Development/NOC Engineers ?Site Survey/Site Design ?RF Engineers ??Standards Based ?IEEE 802.11 ??Commercial Off the Shelf (COTS) ?Gateworks, Ubiquity, Atheros, Linux Based ??Technology was developed and inspired by the lack of communications during the terrorist attacks of Sept. 11, 2001

May 1, 2009

By Lyn Jones, Mike Bratty, Rick Lawrence, David Kratochvil

"The treatment of water is required at many mining operations to remove metals and prevent the discharge of contaminated water to the environment. In other cases, water treatment is used to provide better quality water for recycle to the processing plant, or to process bleed streams in hydrometallurgical operations in order to prevent deterioration in metallurgical performance or process equipment. BioteQ Environmental Technologies Inc. has developed and commercialized the BioSulphide® Process which can provide an alternative for these treatment needs and which can also be used for profitable metal recovery, particularly in cases where conventional metal winning techniques are not economical. The BioSulphide® Process is a high rate anaerobic biotechnology for on-site production of H2S from sulphur species, although for smaller flows and metal loadings, the use of chemical sulphide reagent might be more cost effective. Both new projects and existing commercial operations, used for removal and/or recovery of copper, nickel, and zinc, and which range in sulphide generating capacity from 50 kg/day to 3.7 tonnes/day, are discussed. Particular focus is placed on the results of operations at the Raglan Mine in Northern Quebec where dissolved nickel is removed from contaminated water at a high efficiency through the precipitation of nickel sulphide. Plant effluent is discharged directly to the receiving environment and the high-grade nickel sulphide product is combined with the nickel flotation concentrate produced at the mine. The plant at Raglan will replace the existing conventional water treatment plant and will eliminate the need for on-site storage of treatment plant sludge.INTRODUCTIONThe BioSulphide® Process, which produces low cost H2S for use in selective metal precipitation, offers a low capital cost alternative which can operate efficiently and cost-effectively within a wide range of flows and solution grades. Since the technology can be used to recover metals from solutions with low flows and metal grades, the technology is also applicable to environmental applications for water treatment, with the sale of recovered metals providing an offset to treatment costs. For environmental control, the technology has a distinct advantage in being able to meet strict effluent discharge criteria due to the very low solubility of metal sulphides. To date, BioteQ Environmental Technologies has designed and constructed three plants for metal sulphide precipitation, with another three projects in the advanced development stage."

Jan 1, 2006

By Ed Billington, Mike Shields

The trail blaster is faced with a wide range of workrelated challenges, not the least being the work setting itself. It is usually remote, being anywhere from 5 to 30 or more miles (8 to 50 km) from any road. It may be in mountains, high rock desert, or coastal rain forest, and can range from sea level to over 12,000 feet (3700 m) in elevation. The blaster may be part of a 2-person clearing crew, a 4-person maintenance crew, or a 10-person construction crew. The crew will usually be mobile, moving and working up to 10 miles (16 km) or more per day, relying mostly on their own backpacks to move camp, tools and supplies from site to site. Periodic resupply may be by helicopter, aird rop, or even “sherpa” groups, but most often will be by packstrings of horses and mules. The crew goes into the backcountry a n y w h e re from two weeks to three months at a time, and while there, its members “live the job” 24 hours a day, enjoying baking heat, torrential rain or mid-July s n o w s t o rms along with the truly glorious weather that c o m p e n s a t e s . So who is this blaster? Well, “he” may be she, since some of the top trail blasters are women. He/she will also be more than a blaster: Crews are small, so experienced members must be capable of handling the full range of trail work. Thus this blaster is also a driller, and usually also a bucker, snag faller, rigger, dry-stone mason, log and timber carpenter, bridge builder, mule p a c k e r, small-engine mechanic and, not least, camp cook capable of putting out a hot meal from a campfire , in a downpour, in the dark. Being in remote locations, often without reliable communication to the outside world, trail crews enjoy a remarkable degree of independence from “supervision.” With that comes the responsibility to make sound decisions which expedite the work, while promoting crew safety and welfare .

Jan 1, 2004

The ~2500 km long Kermadec-Tonga arc northeast ofNew Zealand is the longest continuous intraoceanic arc in the world. At least 94 volcanic centres along the arc are submarine, most (87 per cent) within the Kermadec arc (de Ronde et al, 2003a). Volcanic rocks range from basalt to rhyodacite with trace element and isotopic data indicating significant magma source heterogeneity both along and across the arc.   The entire ~1300 km of the Kermadec arc has now been surveyed for hydrothermal emissions (de Ronde et al, 2004). First-stage surveys utilised surface vessels. In February 1996, the first sulfide samples from the southern Kermadec arc were dredged from the Brothers and Rumble II West caldera volcanoes (R/V Tangaroa cruise TAN96/03; Wright et al, 1998; de Ronde et al, 2003b). In September 1998, low-temperature, diffuse venting was discovered at Monowai, Rumble III and Clark volcanoes, and high-temperature, black smoker venting was found within Brothers caldera (R/V Sonne cruise SO-135; Stoffers et al, 1999). The NZAPLUME cruise of March 1999 surveyed 13 volcanic centres (each mainly comprised of single, large volcanoes) of the southern Kermadec arc and documented hydrothermal emissions above seven of them (de Ronde et al, 2001; Baker et al, 2003; Massoth et al, 2003). In July 2001, additional mineralised and hydrothermally altered samples were dredged from Brothers volcano (R/V Tangaroa cruise TAN01/07). The NZAPLUME II cruise of May 2002 confirmed venting was still occurring at all the known hydrothermal sites, and that ten active vent sites occurred along the mid-part of the arc, between Brothers and Raoul Island (de Ronde et al, 2002). In September-October 2004, NZAPLUME III surveyed the northern-most part of the Kermadec arc where another nine volcanic centres are hydrothermally active.   Second-stage exploration of the Kermadec arc hydrothermal systems utilised deep submergence vehicles. In October-November 2004, the Japanese submersible Shinkai 6500 made four dives on Brothers. Samples recovered include vent fluids, chimneys, altered rocks and various animals and microbes. In April-May 2005, a more extensive expedition using the American submersible Pisces V made 23 dives on nine different volcanic centres, eight of them for the first time.   Extensive plume surveys show Brothers volcano is host to the most hydrothermally active sites of all those known along the Kermadec arc. In total, nine dives have been made on Brothers, six on the NW caldera site and three on the cone site. The NW caldera vent site is a long-term hydrothermal system that is today dominated by evolved seawater but has had episodic injections of magmatic fluid. The cone site is a nascent magmatic-hydrothermal system where crack zones localise upwelling acidic waters (de Ronde et al, 2005). A SE caldera site represents the main upflow of a relatively well-established magmatic-hydrothermal system on the seafloor where sulfide-rich chimneys are extant. Each of these different vent sites represent diverse parts of an evolving hydrothermal system, any one of which may be typical of submarine volcanic arcs.

Jan 1, 2005

Official Program

Jan 8, 1950

By D. Christofferson

This final report documents the cooperative efforts of the Engineered Systems Division and the Mining Equipment Division of FMC Corporation during performance of Bureau of Mines Contract H0252091. Improved operator compartments incorporating overhead canopies, logical arrangements of controls, and design features offering greater operator comfort were developed and retrofitted to the FMC 320A roof bolter and 6L shuttle care The vehicles were evaluated in underground operations at separate mine sites. The successful evaluation has resulted in incorporation of the designs as standard features of the 320A roof bolter, and the 5L, 6L, and 10L shuttle cars.

Jan 1, 1978

By Gabriel S. Esterhuizen, Anthony T. Iannacchione

The roof rock in underground limestone mines in Northern Appalachia can be subject to high horizontal stresses in spite of the shallow depth of the workings. The high stresses can cause roof stability problems. The National Institute for Occupational Safety and Health staff have observed a distinctive asymmetrical mode of failure at the pillar-roof contact in two underground stone mines, which is different from the typical failure mode observed in response to excessive levels of horizontal stress. A dip of greater than 5° was identified as a possible cause of this mode of failure. Numerical model experiments showed that an increase in the dip of the workings can cause an increase in the stress at the up-dip corner of the roof beam. A case study is presented in which failure at the pillar-roof contact was observed where the dip of the workings was 7° in a high horizontal stress field. Numerical modeling showed that the relatively small dip of the workings could have induced stresses changes in the immediate roof that would explain the failures. The model results also showed that this mode of failure is less likely to occur if the limestone pillars contain weak bedding planes that provide stress relief. In addition, the results showed that for the conditions at the case study site, the stress in the roof beam was not sensitive to the thickness of the roof beam or to the excavation span. The high horizontal stresses at this site are an important contributing factor to the observed failures.

By Compiled by Staff

"INTRODUCTIONThe U.S. Bureau of Mines (USBM) was established in the public interest to conclude inquiries and scientific and technologic investigations on mining and the preparation, treatment, and utilization of mineral substances; to promote health and safety in the mineral industries; to conserve material resources and prevent their waste; to further economic development; to increaseee efficiency in the mining, metallurgical, quarrying, and other mineral industries; and to inquire into the economic conditions affecting those industries. The organic act of the Bureau, as amended by Congress and approved February 25, 1913, made it the province and duty of the U.S. Bureau of Mines to ""disseminate information concerning these subjects in such manner as will best carry out the purposes of this Act.""In accordance with this directive, USBM reports the findings of its research and investigations in its own series of publications and also in articles that: appear in scientific, technical, and trade journals; in "" proceedings of conventions and seminars; in' reference books; and in other non-USBM publications. The number of these reports, the wide range of subjects they cover, and the variety of mediums in which they appear make this kind of list both necessary and valuable.This edition describes reports and articles published during calendar years 1992 and 1993. It supplements the 50-year list of Bureau publications from July 1, 1910, to January 1, 196O 2; and these 5- year lists of publications and articles: from January 1, 1965, to December 31, 1969 4, from January 1, 1970,to December 31, 19745 , from January 1, 1975, to December 31, 1979 6 , from January 1, 1980, to December 31, 1984 7 , and from January 1, 1985, to December 31, 1989 8."

Jan 1, 1994

By Peter Kowalczyk

Magnetic surveying and map production is well established in land based mineral exploration. Magnetic data are routinely used to map geology in covered terrains, to estimate the depth to basement in overburden covered areas, and to identify altered zones, mineralization, bedding attitudes, and fault networks both regionally in map view, and through interpretation to depth in 3D. Best practices for magnetic survey methods and magnetic interpretation exist in all areas of land based geophysical survey methodology - mineral exploration, hydrocarbon exploration, geological mapping, archeological mapping, and in military applications. At sea, and particularly under the sea, sophisticated magnetic surveys are being done, but it can be argued that these are primarily in niche applications, for example in naval mine-hunting and UXO applications. Magnetic data is not normally collected on AUVs and ROVs conducting mapping and hydrographic survey operations. OFG has developed physical and mathematical calibration routines so that magnetometers can be mounted directly onto AUV and ROV bodies where significant heading errors and magnetic gradients exist. This simplifies the routine deployment of magnetometers on AUVs and ROVs for mineral exploration and other magnetic survey applications without the need for towed bodies, ungainly mounting frames, or degaussing of the survey equipment. Our experience shows that magnetometers can be operated routinely on AUVs and ROVs and that with careful processing useful maps can be produced routinely at low cost.

Sep 1, 2014