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By Graeme G. Strathdee

"IntroductionThis paper presents an overview of the industry status, describes current potash industry practices at three mills, and summarizes developments that have taken place since the previous review by Banks (1985).The commodity potash is produced in both New Brunswick and Saskatchewan from the evaporite ore sylvinite. This ore is a mixture of co-crystallized halite, NaCl, and sylvite, KCl, and a minor assortment of silica, carbonate, sulphate, and clay minerals. Carnallite, KMgCl3.6H20, is also dispersed throughout the bedded deposits and can affect the recovery of sylvite for fertilizer and industrial uses.Canada continues to be a principal source of supply of agricultural and industrial potash products. Figure 1 shows the sector performance between 1989 and 1997 in the context of the world supply and demand situation as reported by Prud'homme (1997) of Natural Resources Canada.Potash industry output is traditionally measured as the quantity of potassium nutrient and reported as tonnes ofK20. Mineralogically, the principal form of potash produced in Canada is sylvite, KCl, and 1 nutrient tonne K20 corresponds to approximately 1.64 tonnes of sylvite of agricultural grade, about 95% KCI. In 1997, the Canadian industry milling capacity was 13.4 million metric tons (Mt) ofK20 (22 Mt KCl) while the actual production was 9.0 Mt K20 (14.8 Mt KCl). Worldwide milling capacity in 1997 was 35.9 Mt K20 (58.8 Mt KCl) and global consumption was 25.3 Mt K20 (41.6 Mt KCl). Canadian producers can deliver about 35% of the global demand for potash commodities"

Jan 1, 2000

By Jan Rosenkranz, Anders Sand, Lisa Malm, Nils-Johan Bolin

Within flotation technology the general trend is towards very large cells. Scale-up is usually done by postulating geometrical similarity, which implies keeping the aspect ratio constant when increasing cell volume. Consequently, the design of flotation circuits typically involves several cells of identical geometry within a bank. Using a few standard sizes in a flotation plant simplifies design, manufacturing and maintenance of the cells, but does not necessarily guarantee optimal performance and selectivity of the flotation process. Geometry parameters for a given cell volume that influence flotation cell performance include cell height, which causes changes in the hydrostatic pressure and suspension hydrodynamics, and also influences the travel distance of particle-bubble agglomerates as well as the homogeneity of the mixing. Also the thickness of the froth layer depends on the aspect ratio of the cell. The objective of this work is to gain a better understanding of material distribution and properties within a flotation cell and, based on this information, elucidate how alterations of the cell geometry can influence separation efficiency. For this purpose systematic measurements and analyses of the spatial distribution of the different phases within a 160 m3 flotation cell have been carried out with a particular focus on an industrial, low-grade copper ore beneficiation process. The concepts for sampling at different vertical and lateral positions of the flotation cell are introduced. The results from the experimental work give an understanding of internal material distribution within flotation cells. Based on the measured phase distribution and concentrations as well as particle properties at various positions within the cell, the implications for an optimized scaling and design of individual flotation cells within a flotation circuit are discussed.

Jan 1, 2016

By Marta Polgari, Eva Surova, Bohumil Molak

Abstract -The Ûrkút rhodochrosite deposit and Branisko Mn showings (rancieite, manganiferous calcite), located in Lower Jurassic marine sedimentary rocks with black shale, were studied by organic­ geochemical methods. Both depositionallocalities were affected by the Lower Jurassic Toarcian anoxic event. Ûrkút shales are rich in organic matter (av. 2.94 wt% total organic carbon), the composition of which indicates derivation mainly from marine sources, with some terrigenous component. The shales matured in a bacterially active environment under reducing conditions of diagenesis-catagenesis. Branisko shales (?0.2 wt% TOC) with lenses of Mn oxide ore were weakly metamorphosed and their organic matter thermally degraded. The model for Mn carbonate ore formation envisages reaction of Mn derived from sediments, with carbonate generated by a bacterially mediated process of decom­ position of organic matter that also involved Mn reduction.

Jan 1, 1992

By P. Duran

The metallurgical gas handling system at Chagres Smelter, like that of many smelters, can be the limiting constraint to processing more concentrate through the smelter. Mass and energy balances for the metallurgical gas handling system processing off-gases from the flash furnace and Peirce-Smith converters have been used by both operations and process engineering groups to help evaluate different operational scenarios in which the use of the installed capacity could be maximized and/or an operational strategy can be change with the purpose of removing a bottleneck or justifying an investment to relieve a constraint in the gas handling system. The present work describes the development of these process balances that were carried out in Exce®. The results were validated with operational data and, subsequently, some cases of industrial interest were simulated, detecting some conditions that were limiting the operation due to the present installed capacity in the Chagres Smelter.

Jan 1, 2007

By L. Avramovic, B. Han, R. Jonovic, Z. Stevanovic, K. Haga, S. Dimitrijevic, A. Shibayama, L. Godirilwe, Y. Takasaki

Pyrite (FeS2) and chalcopyrite (CuFeS2) which could not be recovered, are present in mine tailings discharged from Bor copper mine. About 0.3% of copper (Cu) is contained in these tailings, therefore it can be considered as a useful copper resource. At the same time, pyrite is known to promote acid mine drainage, therefore it is necessary to detoxify the tailings. An efficient method has been proposed to recover copper and reduce the environmental impacts of tailings by a combined hydrometallurgical process of high pressure leaching (HPL), solvent extraction (SX) and electrowinning (EW) process. HPL process yielded high copper leaching rate (>95%) when water (H2O) was used as a leaching media. On the other hand, pyrite contained in the tailings was converted to iron oxide by high pressure leaching. Stability evaluation of the residue obtained from high pressure leaching, confirmed almost no elution of metal ions. The percentage of copper extracted and stripped from the Cu-loaded organic phase reached 97.4%. Moreover, it was confirmed that a low iron concentration in the electrolyte of copper electrowinning, resulted in the improvement of current efficiency of copper electrodeposition. INTRODUCTION Mine tailings are a by-product obtained from the flotation process and there are billions of tons of already existing tailings all over the world. Moreover, several billion tons of additional copper tailings will inevitably be produced in the coming years (Onuaguluchi & Eren, 2012). With the declining average copper ore grade, alternative sources of copper are highly sought, mine tailings have a comparable copper grade to that of low-grade ores (0.2–0.3%) therefore, it can be said that copper mine tailings present a very important source of secondary raw material for copper production (Antonijevi´c et. al., 2008). Consequently, it is necessary to confirm the possibility of the valuable metals (such as copper) recovery from mine tailing in which copper content is about 0.2–0.3%. Our group investigates the flotation and high pressure leaching processes for recovering of copper from mine tailings. Previous work on related samples include copper and nickel flotation tailings from Botswana, and a low–grade copper ore sample from Chile. Impurities, which are associated metals in mine tailing such as iron (Fe) and aluminum (Al) co-dissolve into the solution during the HPL treatment process. Therefore, separation of copper from impurities is necessary for selective extraction of copper from mine tailings and upgrading the copper concentration in the leachate to enable further purifying of Cu by electrowinning. Thus, it is important to investigate the possibility of applying solvent extraction for concentration of copper from leachate solutions of mine tailings (Onuaguluchi & Eren, 2012; Antonijevi´c et. al., 2008). In this study, LIX-84I was used as an extractant of copper from the leachate of high pressure leaching of mine tailing. As a fundamental solvent extraction investigation, the extraction behavior of copper was studied using a simulated solution of the leachate from the high-pressure oxidative leaching of mine tailing. The effects of; solution pH, extraction time, extractant concentration and phase ratio on copper extraction and sulfuric acid (H2SO4) concentration on stripping were investigated.

Jan 1, 2019

By Jose A. Caceres

Mine planning and mineral processing optimization are usually treated as two unconnected problems, especially at open pit and panel caving mines where the cut-off grade is practically the only variable optimized and analyzed for in the planning proposes. Using existing planning tool, the output is a reserve consumption strategy privileging higher grades. With the earlier consumption of the highest grades, every year produces revenues which are closer to the cost and potentially even below cost. However, there are other ore characteristics that can also affect the profitability of the operation. A new methodology has been developed, incorporating the grinding and flotation relationship into the mining economic models for the simultaneous analysis and optimization of the throughput-work index-recovery relationship through changes in the mining limits, sequence and redefinition of the reserve consumption strategy. A mine-site that implements this new planning strategy, can expect to increase the NPV from 5 to 15% depending on the actual operational settings. Two case studies have been developed, showing how the inclusion of the work index in the economic model changes the phase and mining sequence in an open pit mine and the caving sequence and the optimum column height in a panel caving mine.

May 1, 2004

By D. S. Robertson

More than 700,000 feet of diamond drilling was completed in the Blind River area between 1953 and 1958. Much of this drilling was at depths which are still not usual in North America. However, as the tendency is to deeper holes, factual data from the Blind River operation may well provide information of value in future programs. Rates of drilling decreased with in-creasing depth, but uncommonly good rates (an average of over 50 feet per day over more than 4,000 feet of hole) were achieved with proper engineering and care. Costs varied as contractors and geologists became familiar with the area Hole deviation in the Blind River area was locally severe and control of the hole trace became a major problem. Careful surveying was necessary and found to be highly re-liable. It was found that control of the hole trace above 1,500 feet was much more difficult than at depths below 1,500 feet. This is explained by the mechanics of the drilling operation. Various methods of controlling hole deviation were attempted and,

Jan 1, 1962

By C. Bazin

"Discrete transfer functions which use the grinding circuit feed tonnage to predict mass flowrates at reagent addition points in the flotation circuit were calibrated using a dynamic grinding/flotation simulator. Predicted values are multiplied by g/t ratios to calibrate reagent flow. The transfer functions are currently integrated into the distributed control system at Les Mines Selbaie.INTRODUCTIONThe development of adequate tools for the control of flotation processes is a continuous challenge. Since the early 1970's there have been numerous publications dealing with practical applications of flotation process control. A review of that literature shows that basic feedback and feedforward controls are the two preferred strategies for flotation processes. Some advanced control schemes started to emerge (e.g. Zaragoza and Herbst, 1988). Feedforward and feedback aim at reducing the effect of the following flotation process disturbances (e.g. McKee, 1991):0 Changes in throughput;0 Changes in feed grade;0 Changes in particle floatability (size, liberation, surface oxidation ... );0 Deliberate changes of set-point;Feedforward strategy acts on manipulated variables, mainly reagent addition, to attenuate the effect of disturbances such as changes of feed rate and grade. The feedforward strategy is driven by measurements of disturbances. Feedback control acts to compensate unmeasured disturbances, such as ore floatability, and to bring process variables to targeted set-points of concentrate or tails grades. The feedback control action is driven by set-point error, caused by either a deliberate change of set-point or unaccounted disturbances.This paper proposes a way to improve feedforward control schemes by addition of a simple model of solids transportation. The feedforward strategy considered in this paper is of ratio type, i.e. the manipulated variable is changed according to a predefined ratio between this variable and the measured disturbances. A typical example is the ratioed reagent addition to mass flow of ore."

Jan 1, 1993

By Anna Szostak-Chrzanowski, Adam Chrzanowski

"New techniques in monitoring surveys and new methods in the analysis and prediction of ground subsidence are being developed in the Department of Surveying Engineering at the University of New Brunswick (UNB). The new surveying techniques include a telemetry monitoring system developed at UNB in cooperation with CANMET, and use of the satellite Global Positioning System. A generalized approach to the analysis of deformation surveys has been developed which permits an integrated analysis of geodetic and geotechnical measurements in geometrical modelling of ground subsidence. A computer program, FEMMA, has been developed for the elastic and non-linear elastic analysis and the deterministic prediction of deformations using the finite element method.IntroductionResearch and development of new monitoring techniques and new methods in the analysis and prediction of ground subsidence in mining areas is an integral part of a broad research program on deformation surveys which is being carried out in the Department of Surveying Engineering at the University of New Brunswick.The research concentrates on:developmentof a general method for predicting deformations with an emphasis on the use of the non-linear elastic finite element analysis; development of a generalized approach to the geometrical analysis of deformation surveys with an integration of geodetic and geotechnical measurements; and development of new monitoring techniques with an emphasis on continuous data acquisition and application of new space techniques such as the satellite Global Positioning System (GPS).This paper gives a brief report on the progress and recent developments within the above program."

Jan 1, 1987

By John Wilson

"The unconformity beneath 75 per cent or over 6000 km2 of the Athabasca Basin in Alberta lies within economically exploitable depths. The basement beneath this unconformity consists of an extension of the Wylie Lake Pluton, locally faulted and containing areas of mylonitic rocks. While the rocks of the Wylie Lake Pluton are not promising host rocks for uranium ore deposits, the areas of mylonites, graphitic rocks and possible remnants of granitegneiss would bear closer examination. One area of maficmylonites shows a weathering zone enriched in Si, Ca, Na, Pb, Ni, Ba, Co, Sr, Zn and U in addition to reported values of 0.08 oz/ton gold. This zone occurs beneath 800 m to 900 m of Athabasca Group sediments, but similar rock types are present beneath much thinner cover elsewhere. Detailed geophysical exploration is required over the area of thinner Athabasca Group rocks to define more precisely the areas of promising basement rock type.IntroductionThe Athabasca Basin in Alberta has considerable economic potential which has not yet been realized. The geological setting is closely analogous to parts of the basin in Saskatchewan which host major uranium deposits. Recent advances in geophysical techniques have led to deposits being located in Saskatchewan below 600 m of cover. This means that the unconformity between the Athabasca Group and the basement lies at exploitable depths over 6000 km2 or 75 per cent of the Alberta portion of the basin. Much of this area was only cursorily examined almost a decade ago. In addition, Alberta's new Metallic Mineral Regulations have clarified the regulatory situation in the area, and opened up much land for exploration. This article is based on Wilson's (1985a) study of the Athabasca Group and Wilson's (1986) work on the basement and alteration beneath the Athabasca Group in Alberta."

Jan 1, 1987

By B. Morrison

"The Kiruna Electric System is a recently developed inclined ore haul age system for underground mining operations. Although an initial investigation was carried out at the Swedish underground iron ore mine LKAB almost three decades ago, it was not until 1981 that the resources of LKAB, ASEA and Kiruna Truck AB were combined to investigate, and subsequently develop an ""all- electric truck"" for the mining industry.It has long been appreciated, that major economical advantages could be realized by a mining operation through an extension of the cost-effective life of the existing ore hoisting system by the use of ramps to haul ore up to the main haulage level. Diesel truck s have been used and are being used for ramp haulage. Their use however, is limited due to ventilation and operating costs restraints.There are numerous instances of orebodies, located within a couple of hundred metre s of surface, or below an existing hoisting facility, being developed by ramp access while the shaft is being sunk. Development of an orebody via ramp access has many advantages to a mining operation where mechanized mining is to be practiced. These advantages are both practical and economical; generally falling within the over-all umbrella of the phrase ""cash flow"" mining.The decision to sink a shaft is a major committment by any mining company, regardless of size and financial reserves. Extensive diamond drilling, both shallow and deep must be carried out before a decision can be executed. This constitutes a major financial expenditure over an extended period of time.The decision to sink a shaft must be weighed against the reliability of geological interpretation of the deep diamond drilling results, the stability of the mineral market and potential fluctuation in ore prices and interest rates."

Jan 1, 1989

By Rayleen Riske

Why do we look for better reconciliation when times get tough? Why wait? Mine reconciliation should be a priority throughout the good times too. In fact, with good reconciliation, those good times are going to be even better and will help pave the way to success through those preventable bad times. Reconciliation throughout the entire mining value chain requires the capture, validation, and analysis of copious amounts of data. This task can be daunting for a team in a small mine, let alone reconciling across a suite of large mines. This paper will outline the different ways we can reconcile across the value chain, why we should reconcile over differing periods of time and how Snowden?s solution to proving reconciliation can be a simpler, reliable and transparent process. Snowden?s Reconcilor is proving to be a valuable tool on any mining scale, by capturing, validating, sorting and reporting data for timely decision making by the site geologist through to corporate management. By instigating vigorous reconciliation, you are setting your mine up for the future. Not only will you have the means to analyse your current processes and measures, but you will have the opportunity to identify and improve your mine?s performance from the resource model through to the final product.

May 1, 2010

By Rod Abbott

High Definition Scanning (laser scanning) is a proven technology that is accurate to within 6mm in 50m (¼? in 150?). It can capture in excess of one million 3D point measurements in an average 2 hour scan. It has numerous applications including brown-field retrofits, bridge measurement and analysis, verifying as-built conditions, and crime scene investigation. We most commonly use it for plant design to capture current site conditions, so as to prevent interferences and problems before construction begins. All vital information is captured in the first site visit, which limits the need for extra field trips.

Oct 1, 2010

By N. Golchinfar

Tunnels in deep mines are subjected to high stresses. Fracture and failure of the rock mass around an opening can occur when mining-induced stresses are high. In burst-prone grounds, mining-induced seismicity can cause additional dynamic loading which can further increase the stress around the tunnels. When the dynamic stress reaches the rock mass strength, fracturing can occur and rockburst may happen (depending on loading stiffness around the failed rock mass). Rock support installed in the tunnel must be capable of dissipating dynamic energy and holding the failed rocks. Hence, it is important to estimate the depth of failure for rock support design. This paper focuses on how to model depth of failure under dynamic loading. In the modeling, two scenarios of rock failure are considered. In the first scenario, rock failure occurs under static loading and subsequent dynamic loading further increases the depth of failure. In the second scenario, no failure occurs under static loading but in the subsequent dynamic loading, failure around the tunnel is created.

Aug 1, 2013

By Angus D. Campbell

Introduction Gowganda forms part of the general Cobalt area. Its rocks and ores are very similar to those of the other parts of the area. While its total production of silver is only 4 per cent of that of the famous Cobalt silver camp, its 1928 shipments contained 42 1/2 per cent as much silver as those of Cobalt for that year. During twenty years of production, 15,000,000 ounces of silver have been shipped from Gowganda. Of this, over 8,000,000 ounces have been shipped in the past five years. The area has thus made for several years a substantial contribution to the wealth of Ontario. Its future depends to a great extent on the priee of silver, which is now, unfortunately, at a record low price. This paper is a discussion of how the Gowganda ore-shoots occur, together with some notes on the milling of the ores at the Castle-Trethewey Mines. The first part is written in the hope of stimulating further study of the silver occurrences, which may lead to further discoveries. The second part, besides being a matter of record, may be of some use to operators of small mills. The drawings in the several Figures illustrating the text are by W. D. Stroud, mine superintendent of the Castle-Trethewey Mines, the benefit of whose opinions I have had in compiling these notes.

Jan 1, 1930

By R. Simon, A. Khosravi

"Tensile strength of rock samples is measured by direct and indirect tensile tests in accordance with standard guidelines. Due to the difficulties in performing direct tensile test, the indirect tensile (Brazilian) test is conventionally carried out to obtain the ultimate tensile strength. A limited number of studies have been conducted to investigate the role of sample size (length to diameter ratio = L/D) in the stress distribution of the Brazilian test using numerical and analytical methods. These investigations showed that the tensile stress distribution along the loading diameter is not uniform. They also indicated that the difference between the tensile stress at the middle part and at the sides of the sample with higher L/D ratio is greater than that in the other samples.The objective of this study is to show the effect of tensile stress distribution on the fracture surface created by the Brazilian test from a morphological point of view on the samples with different L/D ratio. Hence, a series of fracture surfaces created using the Brazilian tests on the rock samples with L/D of 0.5, 0.75, 1, 1.25 and 1.5 were investigated.In this study, all fracture surfaces were scanned by a 3D laser profilommeter. A number of roughness profiles parallel and perpendicular to loading axis have been selected from the samples with different L/D ratio and spacing of 1 mm. The results show that the roughness of the profiles perpendicular to the loading axis increases with an increase of L/D ratio, while the roughness of the profiles parallel to the loading axis decreases. Furthermore, some roughness profiles parallel to the loading axis were chosen and divided into three segments. The results revealed that the segment in adjacent to the upper loading platen possesses higher roughness than the other segments."

Jan 1, 2015

By K. K. Panthi, P. K. Shrestha

"Displacement of rock mass around a tunnel opening varies according to the rock mass properties, insitu stress conditions and applied support in the tunnel. Such displacement is also altered by presence of bands of rock mass that differ in properties. This paper focuses on the deformation behavior of rock mass around tunnel openings at four tunnel sections in Kaligandaki headrace tunnel where extensive instrumentation was done. Based on the actually measured tunnel displacement records and actually measured support pressure; back analysis has been done to estimate rock mass properties and insitu stresses. Numerical analysis has been done to analyze and assess the deformation behavior of the rock mass around the tunnel sections.INTRODUCTION Instrumentation and monitoring of tunnel convergences have significant importance in evaluation of tunnel stability. One of the key aspects of monitored data is that early convergences can be used in estimation of long term convergence. In addition, these data can also be used in evaluation of rock mass parameters and in-situ stresses around the tunnel. Convergence around a tunnel periphery may vary according to rock mass quality. Presence of bands of different rock mass may hinder the displacement pattern in the tunnel. Particularly, displacement characteristic of tunnel periphery in schistose, foliated and deformed rock mass is altered by presence of bands of comparatively stronger rock mass, e.g., quartz veins or presence of shear seams or faults. Similar observations were also recorded in monitored tunnel sections in Kaligandaki headrace tunnel, located in the Nepal Himalayas. Extensive monitoring was done by installing multiple point borehole extensometers (MPBX) at three different locations of the tunnel periphery at four different tunnel sections. In addition, convergence measurements by tape extensometers and installation of pressure cells to record support pressures were also carried out at each of the tunnel sections. Observations showed that the tunnel convergences varied according to rock mass quality, in-situ stress and effective support pressure.Rock mass parameters and stresses have significant role in the extent of tunnel deformation, but these parameters are often unknown or difficult to predict. Back analysis based on actual tunnel displacement records and known support pressure is believed to be an important method in such endeavor. This paper performs back analysis to evaluate rock mass parameters and discusses correlation of rock mass behavior with tunnel deformation and applied support. For this purpose, the rock mass parameters are estimated from actual tunnel displacement records, mapped rock mass quality records and laboratory tested data. Then, numerical modelling is conducted to correlate post peak behavior of the rock mass with actual tunnel displacement."

Jan 1, 2015

By Roy O. Ifill, W. Charle Cooper, Alan H. Clark

"Queen’s UniversityIn representative, run-of-mine samples from the Panel and New Quirke mines of the Elliot Lake uranium district, Ontario, brannerite, ametamict uranous titanate, occurs in microscopic grain-aggregates which display wide variations, both in textural habit and in the relative proportions of brannerite, titania polymorphs and/or “uraniferous titania”. As is widely documented, much of the brannerite occurs as trellis-like arrays of laths and needles pseudomorphing rutile oranatase. In some cases, the laths and needles are cemented by coffinite. Brannerite, with an average composition of (U0.629Th0.039Ca0.20)(Ti2.199Fe0.13)O69contains =3 wt% Th and is distinctly Ti-rich relative to the ideal composition, UTi2O6. Much of the Si reporting consistently in electron microprobe analyses (between 1 wt%and 5 wt%) is tentatively attributed to contamination by the quartz-sericite matrix, and a minor proportion is attributed to the presence of coffinite intergrowths. “Uraniferous titania” (average par-tial composition by weight: 10.8% U, 0.3% Th,32.9% Ti) is considered to represent an intermediate stage in the conversion of titania to brannerite.The leaching behaviour of brannerite in its different modes of occurrence was studied qualitatively by the rotating-disc (polished section) method in H2SO4and HCl solutions at 25° to70°C. Redox potential was not measured. The progress of the dissolution of the individual brannerite crystallites and grain-aggregates was monitored by optical and scanning electron microscopes. Regardless of its morphology and texture (laths or needles, reticulate or blocky),brannerite is not readily leachable. Regardless of the process conditions, the rate-controlling step appears to be the initial leach-pit formation. These pits expand radially through the aggregate as leaching proceeds. This dissolution mode is independent of the relative amounts of brannerite and titania, i.e. the type of grain-aggregate. Secondary coffinite intergrowths are readily leachable and enhance the overall leaching kinetics of brannerite by accelerating leach-pit formation. These data provide, for the first time, information on the controls on the leaching of the uraniferous phases which dominate the lower-grade ores in the Elliot Lake district."

Jan 1, 1996

By Frank B. Amon

Highland Valley Copper had to make some significant changes in the way it was working in order to counter the effects of ever-increasing costs and decreasing metal prices. A mine/mill optimization plan started in 1997 introduced new technologies and management approaches that resulted in a dramatic drop in cash breakeven costs. The changes involved employee training, added authority and responsibility for staff, better communications, and a consistent approach to setting and achieving property-wide goals. The net effect was to change the culture of the organization from one that was fragmented and focussed on local objectives to one that is cohesive and has common goals. These changes have allowed the mine to remain in business during a protracted period of low metal prices, and have positioned the mine favourably to benefit even more from any future increase in prices.

May 1, 2004

By Gary M. Bone

The autonomous control of vehicles interacting forcibly with their environment, such as dozers and tractors, is an unsolved and challenging problem. Forces and motions are inherently coupled between the tool and the means of vehicle propulsion. Furthermore, they are often operated within uncertain and unstructured environments, such as those encountered in underground mining. There is a growing industrial interest in the development of robotic vehicles to improve productivity, efficiency and safety in mining and construction. This paper focuses on the modeling and control of autonomous robotic dozing for a material removal operation. A dozing process model has been developed based on observations of both a fullscale dozer and a scaled-down version. The model characterizes the dynamic interactions between the blade position, material accumulation on the blade, material distribution in the environment, and the motions of the dozer. The dozing control objective is to remove the loose material as rapidly as possible by driving forwards at full power while automatically raising/lowering the blade in response to sensor measurements. Two different controllers were developed to meet this objective. The first controller is based on a set of heuristic rules, and the second is an optimal controller based on the dynamic model. An instrumented scaled-down robotic dozer and dozing environment, designed to emulate the full-scale operation, are used to implement the controllers and compare their performances over multiple dozing passes. Experimental results are presented showing that the model-based controller increased the material removal rate by 33% compared to the rule-based controller. Lastly, technologies for full-scale implementation are discussed, followed by proposed future work and conclusions.

Aug 1, 2013