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By B P. Scott

Podsol soil horizons developed on Pleistocene glacial sediments overlying the Coronation Mine orebody were analyzed for copper and zinc spectro-photometrically, using biquinoline-isoamyl alcohol and dithizone carbon tetrachloride reagents. Copper and zinc are concentrated in the A. and C horizons, whereas the A1, A2 and B horizons are leached. Of economic significance is the fact that the C horizon contains a copper anomaly, in excess of 100 times back-ground, directly over the orebody. Due to the erratic distribution of high copper concentrations in the Ao horizon with respect to the orebody, that horizon is not considered as a reliable prospecting datum. U NDER certain conditions, metallic ore deposits are accompanied by primary halos of trace elements in unweathered rock surrounding the orebodies or by secondary halos in weathered rock, alluvium, soil, or vegetation above or near the mineralized zones. Where such halos occur, chemical analysis, as applied to the detection of trace elements, is a valuable prospecting aid, permitting the detection of mineralization of possible economic value.

Jan 1, 1965

By Jean Scott, G. A. Collins, G. W. Hodgson

WHILE it is well known that trace metals in crude •oils and distillates have been a matter of deep concern to refining engineers because of the damage done .by the metals to cracking catalysts and refractories (8, 5), the trace metals in crude oils may be of great benefit in correlation studies and in origin studies. During the geological processes in which the oil is formed from •animal and vegetable life, the hydrocarbons are subjected to a host of inter-related reactions, both physical and chemical. It has been well demonstrated that the lighter materials, certainly the short-chain paraffin hydrocarbons, are degradation products of the heavier molecules, and it might be concluded that for correlation studies it would be advisable to direct attention as much as possible not to the degradation products of the large molecules but to the large molecules themselves. Be this as it may, the methods at •hand to conduct the study are not particularly precise and, in the past, attention has centred on the simpler small molecules, as evidenced by the great mass of work involving distillation and chromatography with painstaking separation of the simpler 'front-end' hydrocarbons.

Jan 1, 1954

By K. Sasaki

Ventilation measurements were carried out in a shallow underground-quarry space with relatively large internal volume of 14,600 m3 in order to evaluate its effective ventilation characteristics. Based on air velocity measurements with an ultrasonic anemometer in the exhaust airway connected to the space, it was found that the space was ventilated by natural ventilation airflow with intermittent changes in direction. It was difficult to measure the ventilation flow with typical methods of flow measurement provided from the intake portal and throughout the mine, because the cross-sectional area and volume of the openings were too large and the flow was variable. In the present study, a tracer gas method was applied to evaluate the effective ventilation airflow rate in the space. A photo-acoustic infra-red gas monitor, highly sensitive to SF6 gas used as a tracer gas, was set in the space to determine air exchange rates from gas concentration-time decay curves. The seasonal variations of airflow and thermal environment in the space were investigated through 13 sets of measurements taken over 15 months. Airborne rock dust concentrations were also measured at same time in the opening. The correlations between the effective ventilation airflow rate, thermal environment and dust concentrations in the opening space were analyzed and are discussed based on the presented measurements taken during year. It is concluded that seasonal variations in effective ventilation flow and the dust concentration are mainly due to differences in air temperature in the space, as affected by the rock?s surface temperature and atmospheric temperature. In summertime, the air temperature and associated air density difference generated lower natural ventilation flows resulting in higher dust concentrations.

Aug 1, 2013

By A. Dreimans

Tracing of 'float' against the latest ice-flow directions ha!' led to or assisted in discoveries of several mineral deposits in Canada at lP.ast since 1891, e.g., fluorite and corundum in eastern ?Ontario, Steeprock and Josephine iron ore in western Ontario, Malartic, Fisher-Quebec, and Lamaque gold ore, and Vendome zinc ore, in western Quebec, Sullivan zinc and lead sulphides in British Columbia, Orvan Brook or New Calumet sulphide deposit in New Brunswick, Lynn Lake nickel sulphide de-posit in Manitoba, etc. Pebbles or ore boulders whose source has not yet been found include diamonds in the Great Lakes region and ?sulphides in several localities in Ontario and Quebec. Complexity of transport of ore boulders, including non-glacial transport, may be the explanation. Tracing of ore boulders requires knowledge of the Pleistocene history of each particular area (ice flow directions, their ?changes during glacial oscillations, existence of pre-glacial lakes with ice-rafted boulders, later interference by streams, lakes, mass movements). Important also is distinction of till from similar non-glacial deposits and knowledge of the bed-rock geology. Quantitative methods, e.g., pebble counts, maybe applied while tracing magnetite, hematite, or goethite. Fragments of sulphide ores are less abundant in indicator trains, and quantitative methods are less suit-able for tracing them. Heavy-miner-al investigations may give good results for minerals resistant to weathering. Geochemical methods are of value only in the vicinity of ore deposits.

Jan 1, 1958

By Ali Montaser

Hauling trucks are important part of equipment fleets for large earthmoving operations such as those encountered in dams and highway construction projects. This paper presents an automated methodology for tracking and estimating productivity of hauling trucks fleet operations in near-real-time. Recent advancement in automated site data acquisition technologies made their use in tracking and monitoring of construction operations feasible. However, these technologies fail to track hauling truck fleets due to the change in the cut and fill locations from one cycle to another; making tracking and progress reporting difficult and inaccurate. In addition, there is very little work done utilizing data sensed directly from equipment, for example sensing when truck dumping bed is raised during the dumping process. The technologies deployed in the developed method are Radio Frequency Identification (RFID) and equipment control sensors. Low cost passive RFID tags are attached to hauling trucks and fixed RFID readers are attached to loaders or excavators. The read range of the used RFID tag is centimeters, to be activated only when a loader with an attached RFID reader is loading a truck. On the other hand, control sensor is connected to the truck control system and operated by the motion of its movable bed. The function of control sensors is to record the signal time when the truck operator gives order to the truck control system to raise or lower truck bed. The captured data is then transferred wirelessly from the RFID reader and control sensor to a computer housed in one of the temporary offices onsite and subsequently to the main server in the contractor?s head office. Fusing the data captured from RFID reader and control sensor is used to identify loading, travel, dumping and return time that constitute the hauling truck cycle time. The collected data is analyzed and processed automatically, without human intervention, to calculate the productivity of the hauling truck and to report it directly to onsite personnel. Relational database is developed to support the implementation of the proposed method. The developed database is used to process the data captured by the RFID and the control sensor to calculate the productivity achieved in cutfill operations in near-real-time. The developed methodology is expected to facilitate early detection of discrepancies between actual and planned performances.

Aug 1, 2013

By F. Bosché

Previous research has shown that ?Scan-vs-BIM? systems are powerful to provide valuable information for tracking structural works (progress, quality, safety). However, the transferability of this capability to other construction areas such as MEP works has not been assessed so far. Comparatively, the construction of MEP systems, in particular pipes and ducts, tends to be more flexible with respect to the positioning of individual components, so that Scan-vs-BIM systems could be defeated when tracking MEP installation works. This paper presents recent results on the feasibility and performance of using a Scan-vs- BIM system to track MEP works. The approach followed is presented and then tested with two real-life challenging case studies were conducted simultaneously but totally independently in Canada and Italy. The results show that, as expected, pipes and ducts tend to be more loosely positioned than structural elements leading to a poorer performance of the Scan-vs-BIM system. Nonetheless, it appears that the system works well to assess the level of conformance of site installation works, providing valuable information for estimating emerging performance metrics like ?percent built as-designed?. In addition, the proposed system could also be useful to accelerate and thus reduce the cost of delivering as-built BIM models for in the case of new builds.

Aug 1, 2013

By Louise Corriveau

A Targeted Geoscience Initiative transect in the eastern Grenville Province reveals an extensive VHMS-style cupriferous hydrothermal system among rhyolitic pyroclastic rocks of the Wakeham Group at La Romaine, Québec. The volcanic rocks outcrop sporadically along a < 10 km-wide by about 100 km-long belt correlated with the south-eastern extension of the Wakeham Group. This belt occurs among voluminous, magnetite-bearing, granitic gneiss. At Lake Musquaro, 1.51 Ga metarhyolitic to dacitic lapillistones and flows, locally with aluminous nodules and veins, are intruded by 1.49 Ga feldspar porphyries. This volcanic package was deposited on typical Wakeham Group arenite (< 1.52 Ga) interbedded with nodular, muscovite- and fibrolite-bearing gneiss, and minor marble hosting finely layered garnetiferous hornblendite, garnetite and magnetite-bearing coticule. The latter are interpreted as meta-exhalite and with the associated albitite (sodic alteration), aluminous veins (hydrothermal leaching) and magnetite-rich granitoids, they are key elements in the search for concealed mineral deposits in this area. At La Romaine, to the south, 1.5 Ga lapillistones outcrop structurally above metasediments and below a composite amphibolite unit of uncertain origin (lava or sills) with magnetite-rich (BIF?) units. An extensive zone of aluminous gneiss, with lapilli textures, provide evidences for severe hydrothermal leaching of the volcanic rocks prior to metamorphism. An adjacent siliceous vein-textured unit likely represent a zone of intense silicification (74 wt.% SiO2), while aluminous, hematite to magnetite-bearing veins in adjacent felsic gneiss (tuff?) preserve evidences for the sequence of alteration events. Despite granulite-facies metamorphism, the main characteristics of the amphibolite unit persist along the entire belt. This competent unit likely served as a cap rock; the garnetite, diopsidite and hornblendite it hosts provide effective guides to the sites of fluid discharge and mineralization. A number of Cu showings, modest in size, were discovered in this unit. Their systematic occurrence, in a structural-stratigraphic sense, indicates that this setting is attractive for mineral exploration despite high-grade metamorphism and deformation. Late-stage veins laden with fluorite crosscut these alteration zones, and are themselves metamorphosed, indicating that hydrothermal activity was polyphased. SHRIMP U-Pb ages obtained on detrital zircons (1 arenite) and on igneous zircons (5 volcanic rocks, 1 porphyry and 6 granitoids), pervasive arc-type geochemical signatures and presence of in situ rafts of barium-rich garnetite in the granitoids indicate that sedimentation and volcanism occurred between 1.52 and 1.49 Ga coevally with hydrothermal activity and emplacement of a sub-volcanic 1.5 Ga granitic batholith with early, 1.53 Ga tonalite intrusion. Such a geological context can sustain large-scale hydrothermal cells and development of VHMS, Cu-Fe oxides or SEDEX deposits.

May 1, 2003

By R. C. Wallace

It was to be expected that the convening of the first Empire Mining Congress in June, 1924 in the city of London would turn men&apos;s thoughts very definitely to the question of exploring the mineral resources within the British Empire, the examining of her strength and her weakness in mineral material, and the consideration of steps that might advisedly be taken to strengthen her trade in minerals. That expectation was in part realized, though in the British way of presenting the case, and permitting the inferences to be drawn by implication. The opening address by the President of the Congress, to whom the Empire meant so much, gave a résumé of the contributions to the mining industry which were being made by the constituent parts of the Empire. The papers from the Institutes in Australasia, South Africa and Canada provided the details of resources and practice: while the individual contributions to the proceedings dealt with those phases of the mineral industry which are fundamental to the economic strength of British people, or to the health and well-being of the workers. While the subject matter thus presented was British mineral resources, and while the first consideration was the co-ordination and co-operation of British enterprise throughout the world, there emerged very clearly the wider viewpoint that the discussions had to do with a world industry, and with the contributions that that industry was making, and could further make, to the advancement of civilization irrespective of national boundaries, the world over. The invitations to representatives of the mining industry from the United States to participate in the Congress, and the warmth of approval which that participation evoked, were indications that such a congress cannot to-day be merely national in scope, and that trade in minerals, as in other natural resources, cannot be confined within national boundaries, but will seek its channels, unless artificial obstructions are too great, where the natural channels already exist.

Jan 1, 1925

By Jean-Loui Frenetie, Françoi Himbeault

"Flow of traffic in the underground mine has been improved through the years with clever use of traffic lights. The evolution is characterized by three major design changes. This paper will scan the basic criteria of these designs.IntroductionMines Gaspe, formerly known as Gaspe Copper Mines Limited, is a member of the Noranda Group of companies. The mine is the ""raison d&apos;etre"" of the town of Murdochville, located 600 m above sea level on the Gaspe Peninsula. Paved highways link the town with Gaspe, 95 km to the east, and with Anse Pleureuse, 400 km to the north, on the Gulf of St. Lawrence.The low-grade copper mineralization was discovered in 1921 at Copper Mountain by local prospectors, the Miller brothers. Noranda Mines Limited obtained an interest in the property in 1937. World War II interrupted exploration work and it was not until 195I that a decision was made to bring the property into production.Initially, operations were confined to the Needle Mountain underground deposits which commenced production in 1955. Between 1968 and 1982, low-grade ore from the Mountain open pit supplemented the production. Due to the depressed market, surface and underground operations were suspended in 1982. Needle Mountain underground mining resumed in the second half of 1984, but the Copper Mountain open-pit operation remained idle. Since 1979, more than 75 km of exploration drilling resulted in the discovery of two new deposits, one which is located under the town of Murdochville . Mines Gaspe&apos;s present ore reserve, approximating 8 million tonnes, will be depleted by the end of 1992."

Jan 1, 1988

By J. E. Terry

This paper outlines the steps that are being taken to close the gap between training and industry and indicates areas in which more work needs to be done. Although based on experience in the Maritime Provinces, it is applicable to industrial and educational studies across the length and breadth of Canada.

Jan 1, 1970

By A. E. Hall

"This paper summarizes findings of a two-month investigation in Zambia and Zimbabwe and a one-month visit to Britain in1990-1991. United States contacts have supplied information about that country.Zambia&apos;s political unrest and severe devaluation, combined with developments in Namibia and South Africa, enhanced staff recruiting problems in the School of Mines. Zimbabwe has a strong and developing mining department. The departments of mining in the United States and Great Britain are readjusting and contracting due to the reduction in the scale of the industry.The above factors are reviewed and their impact on the countries evaluated.IntroductionCanada trains the majority of its mining engineers domestically but a significant number are recruited from other countries. Examination of the qualifications of 200 professional engineers registered in the mining discipline in British Columbia showed that125 received their first degree from a Canadian university, 33 graduated from institutions in the United States and 42 from the rest of the world including 30 from the United Kingdom. This is a rough and-ready sample but it indicates that developments in the education of mining engineers in the United States and in Britain are relevant to the Canadian mining industry.The recent changes in the world economy and political structure have significant implications for the mining industry and for the supply and training of engineers. Change in eastern Europe coupled with the downturn in mining, especially in the European coalfields, has enabled many engineers to travel freely to the West. The low gold price and the legislative changes in Africa that have improved access to education for Africans with the ability to fill responsible positions, have reduced the South African mining industry’s overseas recruitment to a minimal level. The Australian recession has also lowered their recruitment of mining engineers from other countries."

Jan 1, 1993

Accountability for profit realized or lost, and responsibility for continued safe operation are the main impetus behind operator training. Efficiency in operation enables production at lower unit costs. An inefficient operation eats profitability of the operation, creating short term losses, and also affecting longer term viability particularly when commodity prices fluctuate and competition erodes market share. Safe operation and efficient operation are ultimately conjoined entities which may not be able to be sustained without dual effort. Training is a very valuable tool to engage operations in adopting more efficient and safe practices. Training requires time, facilities and trainers. One novel way of minimizing both the trainers and the facilities is through the use of Computer Based systems. Included amongst this are Computer based equipment simulators, following an identical philosophy as flight simulators used for pilot orientation and training for different aircraft types.

Feb 1, 2008

By S. Kaushik

The control room in a mineral processing plant has become increasingly complicated with complex unit operations coupled with rapidly evolving systems of sensors and control. Even with significant automation, human intervention is required to counter various scenarios that play out every day. A typical control room operator must monitor over 300 individual points of data in order to ensure the safe and efficient operation of the plant. At the same time, the experience of the workforce is decreasing as operators retire and the new generation enters the concentrators. Global competition for skilled operators continues to be strong and the opportunity to apprentice has diminished. The challenge is to provide a skill foundation for the operators so that they can be effective in the concentrator in a timely and safe manner. Progressively, the industry is turning to dynamic simulation tied into the control system. The simulator environment operates behind the control system to emulate the plant operation, reacting as the plant would when a change is made. The operator drives the process, with realistic feedback, which enables learning in a safe environment. This paper will take the reader through a green-field case study and discuss the effectiveness of integrating an operator training simulator (OTS) on the operator’s learning curve.

Jan 1, 2014

By C. E. St. Denis

"Training Program at Sherritt Gordon's Ruttar:. ConcentratorA formal training program for mill operators is being developed and employed at Sherritt Gordon's Ruttan Concentrator. The program was set up to fulfil the needs created by a shortage of skilled reliable labour, a 200% turnover of personnel within the first six months of operation and the rapid advances in mineral processing technology. All new employees are introduced into the Mill Department through an orientation program designed to familiarize them with the operation of the plant. All training and orientation of new employees is the responsibility of a. small training section consisting of two training foremen and one assistant. Using a combination of classroom and supervised on the job training, the training times have been cut by at least one half. High operating standards have been set and are maintained through the use of detailed manuals for each work area and competent instruction at all operating levels. The major portion of training costs arise from the salaries of the training staff but are negligible when compared to the improved recoveries, smaller turnover and less downtime. Government assistance is available to all industrial employers to offset the costs of training employees."

Jan 1, 1974

"The Kidd Creek concentrator is situated adjacent to Highway 101, twenty-four kilometres east of the center of the city of Timmins, Ontario. Sulphide ore, received by train from the minesite twenty-nine kilometres away, is processed at a rate of twelve thousand metric tonnes per day. Saleable concentrates of copper, zinc, lead and tin are produced.The concentrator contains secondary crushing, grinding, flotation, gravity separation and concentrate handling facilities. The total concentrator manpower complement is one hundred and sixty-four which includes supervision and operating personnel. Twenty-one shift personnel are required to operate the processes involved and they occupy fifteen different operating positions in addition to that of the supervisor. These positions include:1 Central Control Operatorl Metallurgical Leader1 Dryer Control Operatorl Crusher Leader3 Copper-Lead-Zinc Flotation Circuit Operators1 Pyrite Flotation Circuit Operator1 Tin Plant Operator2 Grinding Operators1 Concentrate Operator2 Crusher Operators1 Spare Operator1 Tailings Area Operator1 Automatic Sample System Operator1 Dryer Area Helper1 Crusher Helper1 Tin Plant Helper"

Jan 1, 1981

By W. G. McBride

The mining industry has already become highly technical in all its branches and this has brought about specialization in mining engineering. Increasing demand for mineral products, exhaustion of high-grade or easily worked deposits, and narrowing of the fields for exploration and development, are forcing mines to greater depth and to working material of lower grade and more complex composition. The Robinson Deep at its Turf shaft has reached a depth of 7,640 feet and expects to go to 8,500 feet; Miami Copper, under normal market conditions, profitably mines ore running only 16 pounds of copper to the ton; Alaska Juneau is making a profit on ore running about $1.15 per ton in gold; and many mines are handling ores of an extremely complex nature. In each case, the success of these operations has depended upon the application of sound scientific principles and good business methods to the problems involved. It may be safely assumed that mining at great depth and the exploitation of low-grade, or complex, ores will become more and more important as time goes on, and this means that greater and greater demands will be made upon the technical skill and business ability of the mining engineer. To meet this condition, the more or less haphazard methods of training the young engineer that have prevailed in the past will have to be replaced by a careful and well-ordered system of engineer-training. Upon the industry and the older mining engineer falls the duty of providing means to assist the deserving student to prepare himself properly to meet the increased demands that are falling upon his profession. Consideration of the training of the mining engineer involves a decision as to what constitutes his field of usefulness. Technical control of methods and processes obviously falls upon the engineer, but there are still many who doubt his usefulness in the executive field, particularly in positions involving close contact with the men and work. Many engineers have failed as shift-boss or foreman, but this has been generally due to fault in the management in using men who were temperamentally unfit to lead others or who lacked the necessary preliminary training.

Jan 1, 1932

By Jessica Egan, Daniel Hodouin, Mohammed Reza Khalezi, Steve Bellec, Claude Bazin, Carl Duchesne

"A model for gold leaching was developed and implemented into a simulator. The simulator uses a description of the ore that is based on the mineral composition and precious metal content. The model accounts for the distribution of minerals and precious metals through the size intervals. An ore texture model based on precious metals and minerals grain sizes within the ore is used to predict the exposed surface of the species in the various size intervals. A model is proposed to predict the rate of dissolution of any species dissolution using the exposed surface, particle size, cyanide and oxygen concentrations, temperature, pH and agitation. The flow of slurry through a leaching tank is modelled using a parallel arrangement of perfect mixers to simulate a bypass and a Cholette-Cloutier mixer model. The simulator can be used for circuit optimization but was developed to provide an environment for learning the basic concepts of process analysis methods. Examples are given to illustrate the application of the simulator for planning tracer tests and sampling campaigns.INTRODUCTIONThe constant pressure to improve the operation of processes that are already close to optimum imposes to plant engineers to be aware of the available process analysis tools and to be able to use them to assess process operation and make a diagnosis to possible problems. Some of these tools are:•,Sampling the streams of a process;•,Data reconciliation;•,Analysis of mixing in reactors;•,Estimation of rate parameters;•,Optimal tuning and flow sheet modification;•,Automatic control and real time optimization.Although some of these tools are part of the curriculum of many university engineering programs, the students are not exposed to actual process analysis problems. In addition the complexity of the ore dressing processes compounded with unavoidable measurement errors and plant disturbances can discourage many motivated engineers. These factors often lead to an incomplete valorization of the collected data and a poor return on the investment associated with the sampling, testing and analysis of the samples.Simulators are readily available for process optimization (Yalcin and Shang, 2006) by allowing:•,The simulation of various flow sheet configurations;•,The simulation of a change of operating conditions;•,The simulation of various control strategies;•,The training of plant operators.However few simulators have been developed with the objective of providing an environment for training plant engineers and technicians to the use of tools for process analysis and optimisation."

Jan 1, 2008

By Ivan Malinsky, Gérard Castonguay

"On a développé un procédé qui donne une fonte (2,3% C, 0,07% V) du V2O5 (99%) et un rutile synthétique (94% TiO2) à partir d&apos;un minerai, dont les réserves au Québec sont importantes. Le procédé comprend les opérations suivantes: 1) la concentration magnétique du minerai (30% Fe, 9% TiO2 et 0,65% V2O5) pour produire un concentré (65% Fe, 7% TiO2 et 1,6% V2O5); 2) le smeltage du concentré aggloméré dans un four à arc, sans fondant, pour produire une fonte et une scorie (30% FeO, 40% TiO2 et 8,0% V2O5) qui contient plus de 95% du vanadium et du titane présents dans le concentré; 3) le grillage alcalin (37% Na2CO3) de la scorie suivi d&apos;une lixiviation à l&apos;eau et de la précipitation de l&apos;hexavanadate d&apos;ammonium à partir du filtrat; 4) la lixiviation du résidu par l&apos;acide sulfurique pur ou usagé pour produire un rutile synthétique. Un estimé préliminaire de la valeur économique du projet laisse croire à sa rentabilité à la condition que l&apos;investissement pour le smeltage soit inférieur à environ 400$/tonne de fer.IntroductionLes gisements de magnétites titanifères sont nombreux dans le monde. Ils consistent en une magnétite étroitement liée a l&apos;ilménite, La teneur trop élevée en TiO2 empêche l&apos;exploitation de ces gisements pour la production de fer. Cependant, dans certains cas, la magnétite a une teneur intéressante en vanadium qui peut rendre l&apos;exploitation de ces gisements rentable. Aujourd&apos;hui, les magnétites titanifères constituent la plus importante source de production de vanadium. On estime qu&apos;environ 70% du vanadium produit provient de ces sources."

Jan 1, 1983

Plan de l?exposé ?? Présentation du site de la mine Restigouche et du mandat confié à Genivar ??Dénoyage de la mine ??Processus d?enlèvement des boues au fond de la fosse ??Utilisation de Géotubes dans le procédé à l?usine de traitement des eaux.

Feb 1, 2008

By R. M. T. Raja Ismail

Shipping and stevedoring industry is going to witness a massive increase in the amount of containers to be handled while land constraints become more critical. Offshore transfer operations hence offer a preferable solution to deal with the surge in cargos rather than to expand the port outwards. Recently, there has been increasing research interests on offshore crane automation. Suspended cargos in a ship-mounted crane system are caused to swing due to the vibratory motion of the ship induced by ocean waves, which can lead to collision between cargos and deck. Therefore, it is vital for offshore crane systems to satisfy rigorous requirements in terms of safety and efficiency. This paper presents the modelling and control development for offshore boom crane systems. A second-order sliding mode control law is proposed for trajectory tracking and sway suppression control, making use of its capability of actuator chattering alleviation while achieving high tracking performance and preserving strong robustness. The asymptotic stability of the closed-loop system is guaranteed in the Lyapunov sense. Simulation results indicate that the proposed controller can significantly reduce the effect of disturbances coming from gusty waves and other dynamic loadings.

Aug 1, 2013