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By J. Wickens

Haile Gold Mine is located near Kershaw, South Carolina, approximately 50 miles south of Charlotte, North Carolina. Gold was first discovered at the site in 1827, and the property has been through several operating periods since. The relatively low grade and refractory nature of the deposit has been a challenge for efficient processing since the start of mining on the property. Early processing techniques included gravity separation and barrel chlorination. The last operation employed heap leaching in 1985 through 1992. After being closed and reclaimed for over 20 years, the property is poised to re-open and produce once again. In this chapter of the Mine?s legacy, flotation and ultra-fine grinding will be employed to achieve economic extraction of gold and silver from the pyrite. This paper briefly reviews some of the mine?s history, the metallurgical testing, the flowsheet and discusses design considerations. KEY WORDS: process plant, flash flotation, leaching, SMD, stirred media detritor

Feb 27, 2013

LARGE-SCALE production of zirconium by the Northwest Electrodevelopment Laboratory of the Bureau of Mines at Albany, Oreg., is an anomaly that justifies some explanation. The reduction of titanium tetrachloride with magnesium in an inert atmosphere, as perfected by Dr. W. J. Kroll before 1940, aroused renewed interest in zirconium, and in 1945 development work on this metal was initiated at Albany under Dr. Kroll's technical direction. Preliminary results were promising, and in February 1947 a pilot plant with a weekly capacity of 60 pounds of zirconium-metal sponge was put in operation. Shortly thereafter the Oak Ridge National Laboratory of the Atomic Energy Commission requested production of 1 ton of zirconium-metal sheet, with the provision that it have a low hafnium content. The Bureau of Mines was furnished with a. supply of Brazilian baddeleyite ore, containing less than 1 percent hafnium with respect to zirconium, from which was made about. 2,700 pounds of relatively low hafnium zirconium sheet of 0.080-inch thickness for test purposes. This was accomplished by melting zirconium sponge in a graphite crucible, hot-rolling the ingot in an iron sheath, and finishing by cold rolling. Concomitantly the Oak Ridge Laboratory developed a method for separating hafnium from zirconium; and, in cooperation with the Atomic Energy Commission and the Bureau of Ships of the Department of the Navy, a, larger pilot plant was erected to produce zirconium from very low hafnium zirconium tetrachloride furnished by the Commission. Pilot-plant work on producing zirconium tetrachloride from zircon sand and baddeleyite was discontinued. Production of zirconium sponge in the larger pilot plant of 500 pounds per week capacity was begun in June 1949.

Jan 1, 1956

By H. Soto, J. Jara, F. Nava, J. B. Hiskey, B. J. Scheiner

Laboratory tests showed that ozone can destroy free cyanide and weakly complexed cyanide (copper and zinc cyanides). The iron cyanide complexes were resilient to ozonation but they were effectively eliminated by precipitation with Fe (II) ions under controlled pH conditions. Tests carried out with effluents from a number of gold mills confirmed the results obtained previously in the laboratory. The industrial samples contained cyanide in the form of free cyanide and also complex copper, zinc and iron cyanides. Solutions that contained up to 184 mg/L total cyanide, after the ozone treatment analyzed only 2-3 mg/L dissociable cyanide and 50-90 mg/L CN(t) (accounted for by iron complexes). After precipitation with ferrous ions total cyanide was reduced below 1.5 mg/L. For most solutions ozone consumption ranges from 3 to 6 g per g of cyanide destroyed. However, certain impurities (such as SCN and S203 ), present in some effluents, increase ozone consumption and make it more difficult to reduce copper concentration to satisfactory levels.

Jan 1, 1993

Newcrest Mining is one of the leading independent gold producers in Australia thanks in large part to its Cadia Valley operations. It is the largest gold and copper producer in New South Wales and one of the largest in Australia. This year Newcrest will expand its operations with a A$545-million expansion in the area. The Cadia Valley is approximately 250 km (155 miles) west of Sydney. The province presently includes the Cadia Hill opencut mine and the Ridgeway underground mine. With a significant mineralized system to the east of Cadia Hill and a mineral resource below Ridgeway, Cadia Valley has the potential to underpin Newcrest?s production for up to 30 years. In 2007, total gold production for the company in-creased to more than 50 t (1.6 million oz) and cash flow increased by 47 percent, according to the company?s annual report. The history of mining in the area dates back to 1851, but Newcrest?s history is young. In 1990, Newcrest commenced activities in the Cadia Valley. In 1992, Cadia Hill was discovered, with the discovery of Cadia East (1995) and Ridgeway (1996) following close behind. In 1998, the Cadia Hill openpit mine was commissioned. In 2002, the Ridgeway underground mine was commissioned and in 2007 the company?s board of directors approved an A$545 million development of the Ridgeway Deeps. The Ridgeway underground mine is located adjacent to Cadia Hill. The Ridgeway orebody has no surface expression but lies approximately 500 m (1,640 ft) below the surface and resembles an inverted teardrop. It measures approximately 450 m (1,476 ft) by 250 m (820 ft) and extends in excess of 850 m (2,788 ft) in depth. Ridgeway is a sublevel caving operation. Crushed ore from underground is delivered by conveyor to a surface stockpile, adjacent to the Ridgeway concentrator. Using similar processes to the adjacent Cadia Hill concentrator, gold and copper are recovered in a conventional flotation circuit to produce a copper concentrate containing elevated gold levels. Ridgeway concentrate is combined with the Cadia Hill concentrate before it is pumped to the filtration plant in

Jan 1, 2008

By A J. Rorke, U Chhika

"A series of tests was carried out on a dry blend of PPAN and LAN prills (LANFO). The objective of thetests was to determine detonation stability and VOD performance compared to ANFO. Heave andfragmentation results in the field were also evaluated visually. A number of factors were behind for.mulating this blend. A lower cost is combined with higher in-hole energies, but at slower reactionrates and lower peak borehole pressures. The resultant effect is improved heave characteristics andlower energy losses caused by inefficient crushing of the rock immediately around the borehole.The test results indicate that IANFO is ideally suited to blasting in softer midburden and overburdenrock types often encountered in coal strip mines."

Jan 1, 1995

The stability of surfactant-free foam films was studied using the thin film pressure balance (TFPB) technique. In pure water, it was not possible to produce foam films due to weak film elasticity and strong hydrophobic force. In the presence of NaCl, however, the hydrophobic force was sufficiently dampened to allow metastable films to form. At 10-5 M NaCl, the equilibrium film thickness reached a maximum of approximately 130 nm at pH 6.0-7.3. The thinner films obtained on either side of this pH range was due to the increased ionic strengths associated with the HCl and NaOH additions for pH control.

Jan 1, 2009

By F. F. von Glehn

There is no doubt that simulated ventilation networks must be adequately verified before they can be extrapolated and used for predictive purposes. There are two general approaches as to how the verification can be established and these are summarised as follows; The first approach is to measure all individual branches with trailing hoses or barometers to get individual pressure drop and flow per branch and then calculate individual resistance factors for input into the software. The simulator is run, checking that the output makes general sense (check some sensitivities if possible). The network is now considered as verified. The pressure drop to be measured is relatively small and thus it is inherent that the measured set of individual K factors will be imprecise no matter how much care is taken in the measurements and the resultant simulations will inherit the same problem. In the second approach, the network is assembled using estimated (Atkinson) K factors (based on physical features of airway, past experience and catalogued typical K factors). Only the main primary flow rates are measured and hence the relative distribution of the primary ventilation in the main airways is determined (probably about 10 off primary air flow measurements). Main critical pressure differentials at main and booster fans and across critical doors are measured (probably about 6 off primary pressure differential measurements need to be made). The simulator is run and the computer model is used to iterate and select an updated suite of K factors so that the flow balances and pressure differentials are correctly simulated (typically only 2 or 3 iterations are all that is needed). The network is now considered as verified. The pressure differences to be measured will be substantial in absolute terms and can be measured with high precision. Also, because only primary flows are measured, these will generally be measured at higher air speed points and hence improved relative accuracy. This leads to more accurate simulation results. This paper examines the advantages and disadvantages of the two approaches. 1 Background

Jan 1, 2009

By J. Gómez-Hernández, P. K. Kaiser

Abstract The process of stress-induced fracturing around underground excavations in brittle rock is associated with dilation or volume increase of the failed, fractured rock. Different attempts to account analytically for this dilation have been made within the framework of plasticity theory. This theory has been developed mostly for metals, strain-hardening materials or soils, but brittle failure of rock-like materials is characterized by strain-softening behaviour and the volume change is dominated by geometric factors, which may violate stability principles of plasticity. In this work a semi-empirical Rock Mass Bulking Model (RMBM) was developed, using as starting concepts: dilation angle, plastic strain rates, effective deformation modulus, effective Poisson's ratio, Griffith locus, and the definition of a bulking factor BF introduced by Kaiser et al. (1996). The model was calibrated in order to obtain bulking factors that are consistent with experimental data and case studies of measured bulking around underground excavations. Résumé La fracturation provoquée par le stress autour des excavations souterraines dans le minéral friable est associée à la dilatation ou à l’augmentation du volume de la roche en rupture. Dans le cadre de la théorie de la plasticité, différents essais ont été faits dans le but de trouver une justification analytique pour cette dilatation. Cette théorie a d’abord été élaborée pour les métaux, les matériaux ou les sols d’écrouissage, mais la rupture fragile de matériaux d’aspect rocheux est caractérisée par un comportement d’amollissement et le changement de volume est dominé par des facteurs géométriques, ce qui pourrait ne pas être conforme aux principes de stabilité de la plasticité. Dans le présent ouvrage, un Modèle semi-empirique de masse rocheuse a été élaboré, dont les concepts initiaux sont les suivants : angle de dilatation, vitesse de fluage plastique, module effectif de déformation, coefficient effectif de Poisson, locus de Griffith, et la définition d’un facteur de foisonnement FF apportée par Kaiser et al. (1996). Le modèle a été calibré afin d’obtenir des facteurs de foisonnement qui soient conformes aux données expérimentales et aux études de cas sur le foisonnement mesuré autour des excavations souterraines. Kurzfassung Der Prozess von Brüchen in unterirdischen Abgrabungen in sprödem Gestein ist mit der Ausweitung oder der Volumenzunahme des gebrochenen Gesteins verbunden. Verschiedene Versuche im Rahmen der Verformbarkeitstheorie haben versucht, diese Ausweitung analytisch festzustellen. Die Verformbarkeitstheorie wurde hauptsächlich für Metalle, kalthärtende Werkstoffe oder Böden entwickelt, da sprödes Versagen von Gestein ähnlichen Werkstoffen von kaltenhärtendem Materialverhalten gekennzeichtnet ist, und die Volumenveränderung von geometrischen Faktoren beherrscht wird, die die Stabilitätsprinzipien der Plastizität übertreten. In dieser Arbeit wurde ein halbempirisches Rock Mass Bulking Model (RMBM) (Modell für das Aufgehen der Gesteinsmasse), entwickelt, für das die folgenden Anfangsprinzipien benutzt wurden: Ausweitungswinkel, plastische Fliessensätze, wirksames Verformungsmodul, leistungsfähiges Poissons Verhältnis, die Griffith Ortskurve und die Bestimmung eines Aufgehensfaktor BF1 der von Kaiser et al. (1996) eingefürt wurde. Das Modell wurde so kalibriert, dass es die Aufgehenfaktoren erzielte, die mit den Vesuchsangaben und den Fallstudien von Aufgehensmessungen in unterirdischen Abgrabungen übereinstimmen.

Jan 1, 2003

By G. Bonifazi

The study of minero-petrographical characteristics and the subsequent textural and structural characterization of an ore mineral represents the first step of each industrial processing whose aim is the beneficiation of each valuable mineral phase present inside the ore. Analytical, mineralogical and petrographical, chemical and multispectral image analyses based investigations, applied to eclogitic ore samples deriving form "in situ" sampling campaigns, were applied. These procedures enabled to point out some textural and structural aspects characteristics of ore litotypes belonging to eclogitic-amphibolitic dikes. Such dikes are characterized by a paragenesis constituted mainly by siliceous gangue and accessory "useful titanium minerals" as rutile [TiO2], "pseudolilmenite", ilmenite [FeTiO3] and sphene [CaTiSiO5]. In the beneficiation process applied to ore s is of preliminary importance to establish a strategy in order to obtain a recovery of high quality "mono-minerals concentrates" as rutile, "pseudolimenite", ilmenite and phene. To reach this goal is thus necessary to develop a preliminary study of the textural, structural, petrochemical and minerochemical characteristics of the samples. Different ore samples (eclogitic rocks), resulting from sampling campaigns carried out in the Piampaludo area (Sassello district: Savona, Northern Italy), are examined.

Jan 1, 1994

By Garth M. Crosby

Seven mines with important production records in the Coeur d'Alene lie adjacent to the Gem stocks -the Frisco (Gem), Hercules, Interstate, Rex (Sixteen to One), Success (Granite), Sunset, and Tamarack. Old records are incomplete, but avail- able data given in Table I show these mines have produced 10,550,721 tons of ore containing more than 50 million oz of silver, more than 1.5 billion lb of lead, and about 1 billion lb of zinc (approximately 1.25 million tons of lead and zinc combined). Average ore grade is 4.8 oz of silver per ton, 7.2 pct Pb, and 4.6 pct Zn. This impressive production represents about 12 pct of the District's yield. At present metal prices, with modern beneficiation, the gross value would be more than $400 million.

Jan 7, 1959

This paper reviews recent positive developments in Europe on the regulation of gold mining. However, it also examines the problem that while gold projects may be bankable and technically and environmental defensible, the odds tend to be stacked against granting of an environmental permit. The historic background to this situation is examined and current developments and initiatives are critically analysed. Standards and benchmarks for the industry have been established across the community and these have a strong influence in European Union accession (and aspiring) states as well. While this is welcome in regard to improving environmental performance, it also represents a significant milestone with mining (and particularly gold mining) now æon the mapÆ as a legitimate enterprise, a situation that was patently not the case prior to 2003. At the project level, very frequently, the difficult biophysical problems are addressed and satisfactorily dealt with according to the new regulations, but still there are problems regards trust and acceptance that underpin a æsocial licenceÆ. What goes wrong and how can companies deal with the social/environmental issues that lead to entrenched views and concerns, irrespective of any amount of demonstration of good practice and corporate social responsibility? What is the role of the non-governmental organisation (NGO) and are they as accountable and responsible as they should be? The findings presented draw upon recent experience with the environmental permitting of projects in Spain, Greece, Romania, Bulgaria and Serbia on behalf of Australian, Canadian and British companies as well as international funding institutions.

Jan 1, 2007

By A. J. Magerowski

Energy consumption is a main component of operational costs for the comminution of mineral bearing ores. Reduction of energy consumption has continually been addressed by mill operators and equipment manufacturers. Our testing over the last few years strongly indicates that the overall energy needed to comminute a mineral bearing ore can be brought down significantly, if more work is done in the crushing stages of the comminution circuit.This calls for uprating of the conventional crushing equipment into a new generation of crushing equipment to produce finer products. This will result in the emergence of new ideas in the design and application of equipment and corrnninution circuits.

Jan 1, 1986

By Pedro Sampaio Cotta

O mercado de Siderurgia no Brasil vive um momento de pressão causado pelas quedas dos preços internacionais e agravado por fatores internos como a redução no consumo, aumento do custo de energia e tributação elevada. Tendo em vista que, ao menos no curto prazo, não há perspectiva de melhoria, as indústrias do setor se mobilizam para adequar a esta nova realidade. A sobrevivência em um cenário de alta competitividade é garantida reduzindo custos de produção e manutenção e buscando aumentar a produtividade sem, entretanto, expandir a capacidade produtiva. Para atingir estes objetivos as indústrias focam em pequenas melhorias operacionais, com investimentos em pequenas modernizações e otimizações de processos existentes, em detrimento de grandes investimentos em expansões. Neste contexto observa-se um aumento na relevância do software de automação, que surge como alternativa para realização de melhorias, pois possuem custo relativamente baixo em comparação com reformas a nível mecânico e podem proporcionar ganhos importantes de eficiência e qualidade. Este artigo apresenta um estudo da utilização de metodologias ágeis de desenvolvimento de software para realização de melhoria contínua em processos industriais. Como exemplo de aplicação é apresentado o trabalho de otimização do software de automação de um laminador de alumínio com foco no aumento de sua taxa de utilização. A meta foi buscar um ganho de produtividade garantindo os mesmos padrões de segurança originais dos equipamentos e com impacto mínimo nas atividades produtivas.

Aug 17, 2017

By M. P. Valoski

Mine fires and/or explosions continue to occur. While these are unusual events, they comprise emergency situations. Whenever one of these events occurs, the Mine Safety and Health Administration (MSHA) responds with specially trained teams, mine fire experts, sophisticated scientific instrumentation, and trained instrument operators. In order to analyze mine air samples on-site, because time is of the essence, MSHA has a Mobile Gas Laboratory. The laboratory, which is stored near Pittsburgh, is totally self-contained. Sending air samples to a laboratory would take too long. Mine fire experts need the results of the latest analyses as soon as they are finished. The mobile laboratory is housed in the box of a diesel truck. Benches line both sides of the laboratory. Gas chromatographs are mounted on the benches. There is sufficient bench space for multiple bench top gas chromatographs. These instruments and their controllers are shock and vibration isolated to protect them during transit. The mobile laboratory can operate using on board diesel generators or line power. An uninterrupted power supply (UPS) supplies power to the instruments while switching from generator to line power or visa versa. Therefore, analysis of samples can proceed without interruption if a power failure would occur. In the rear of the mobile laboratory are racks that hold compressed gas cylinders. These cylinders contain carrier gas and compressed air. An air compressor is housed under the laboratory to operate the gas chromatograph actuators. Within several hours after arriving at a mine the instruments have stabilized and have been calibrated. The mobile laboratory is ready to begin analyzing air samples. The mobile laboratory has proved itself at many mine fires and explosions since its purchase.

Jan 1, 2009

By Alexandra Kozak, Rodrigo Costa, Bob Fukuhara

"The Jacobina project in Bahia, Brazil commenced operations in 2004 with a design capacity of 4,200 tpd. A project development plan to increase plant capacity to 6,500 tpd will be discussed. The project included an evaluation of the existing circuit and addressed bottlenecks in the crushing, milling, sedimentation, leaching and tailings transport. These circuits and the methodology used to provide higher capacity will be presented.INTRODUCTIONThe Jacobina mine is located in the state of Bahia in northeastern Brazil approximately 330 km northwest of the state capital city of Salvador and 9 km from the town of Jacobina. The Jacobina Mine (Figure 1) is owned by Jacobina Mineração e Comércio, a wholly owned subsidiary of Yamana Gold Inc.The gold mineralization of the Jacobina mine is hosted within quartz pebble conglomerate reefs of the Serra do Córrego Formation which together with the Rio do Ouro Formation forms the Serra do Jacobina mountain chain.The Serra do Jacobina mountains have been mined for gold since the late 17th century. Since the 1970’s, the Jacobina mine has been operated by Anglo American, Williams Resources Inc., Desert Sun Mining Inc. The mine is currently owned by Yamana Gold Inc.In December of 1998, operations at Jacobina were suspended and the property was placed under care and maintenance. Desert Sun Mining Inc. began exploring the property in 2002 and eventually purchased the Jacobina mine in 2003. In 2003, a feasibility study was completed that evaluated the economics of re-developing the mining operations and expanding gold production. In 2004, refurbishment and re-development of the mining operations began and the milling facility throughput capacity was expanded from 1.08 to 1.512 Mtpy (3,000 to 4,200 tpd). The milling operations were commissioned in the 1st quarter of 2005 and commercial production was declared 1 July 2005. In April 2006, Yamana Gold Inc. acquired the Jacobina mine through its acquisition of Desert Sun Mining Inc."

Jan 1, 2008

By C. S. Herzig

In the Engineering and Mining Journal of Jan. 27, 1900, there appeared an article by Fred T. Greene, describing a method of measuring stopes by the use of strings, a clinometer and a tape. In the early part of 1899 I had occasion to use a somewhat similar method, for the purpose of accurately ascertaining the volume of a very irregular drift connecting two mines. This drift was an important factor in a lawsuit for $150,000, in which it was necessary to determine accurately the volume originally occupied by the material extracted from the drift. While it is unnecessary to give all details of the controversy, some explanation of the conditions is required for a clear understanding of the following description. This drift was started by the a E." Co. from its workings, in about 7 ft. of ore, and headed toward the " G " property, the plan being to extract all the ore between foot- and hanging-walls, but to take out nothing but ore. As the " G." workings were approached; the ore-body became very irregular and much thinner. It was, however, very closely followed, and where the drift broke through into the " G." workings, the hole was only 11 inches high by 14 inches wide, or just about the size of a man-hole in a boiler.. Thus, this connection-drift tapered sharply; and the very irregular foot-wall sloped toward the " G." workings, and entered them at a place where the stope was only about 3 ft. high, and the ground had already commenced to cave. It may be added that the ore-body was a nearly flat deposit of lead carbonate in limestone, the ore and gangue being quite soft. I was called upon by the " G." people to make the survey

Jan 1, 1901

Continuously monitor and record respirable dust levels underground by a reliable, sensitive, and fast-response device. Approach A light-scattering photometer, having a LED (Light Emitting Diode) light source and other significant improvements, has been designed and incorporated into a portable continuous monitor. How It Works The monitor continuously draws air into the sampling inlet through a cyclone that removes dust particles larger than respirable size. The dusty air enters the photometer vertically downward through a cylinder which is intersected by the optical system. (This cylinder appears as a circle in the drawing of the photometer.) The center of he column of dusty air intersects a beam of pulsing light from the LED, causing some of the light to be reflected, scattered, and refracted. Only the light that is scattered at an angle of about 700 from the light beam passes through a lens to the photodetector which generates an output voltage Signal proportional to the dust content in the air. This signal is detected, amplified, and converted to a digital readout directly in milligrams of dust per

Jan 1, 1979

By G. Montes-Atenas

Throughout the years, research studies have reached a consensus in acknowledging the relevancy of surface chemistry phenomena on minerals separation and metals extraction. Many techniques, and notably, scanning electron microscope-based technologies have revolutionised the entire mineral processing industry. Nevertheless, the comprehensive understanding on how surface chemistry properties influence the performance of many processes involving ores is still a challenge, a matter of controversy. The latter is mainly due to the fact that all interfacial processes do not necessarily require stoichiometric and well defined atomic structures. This is particularly true in the case of sulphide minerals which are well known to be superficially unstable in aerated media. When trying to measure any variable related to mineral-mineral or mineral-aqueous solution interfaces, there are too many unknowns regarding how sensitive the interface is when facing sampling protocols and sample handling. The aim of this research work is to make a case for improving future concentrators? survey protocols. It suggests a methodology to study effectively chemical changes at the outmost mineral surface layer at different stages of a mineral processing operation. The sampling protocol and sample handling is presented in details and it is applied to the regrinding stage of an industrial plant.

Feb 27, 2013

Sustainable development is a critical discussion topic in the mining industry today. The topic is necessarily broad and complex, covering an entire spectrum of related areas, from geology to end-use products. The objective of this keynote address is to focus on the chemicals and chemistry aspects - especially research and technology transfer - in sustainable mineral processing. Chemicals came to play a critical role in mineral processing during the last century, and they will play an equally vital role in confronting the sustainability challenges of the 21st century, particularly in the areas of greener chemicals, water efficiency and water resource management; waste reduction and remediation; minimising environmental impact, safety and health risks (meeting and exceeding the requirements of regulations); energy efficiency; and converting mineral resources into reserves. This keynote address argues that the current research framework is no longer adequate to serve the goals of sustainable mineral processing. The problems studied are often too narrowly defined or irrelevant, while the research efforts are fragmented and the methods and approach employed are often too reductionistic to produce useful knowledge. A new framework for research is needed. This address further argues that a new framework based on a holistic or systems approach can best tackle the challenges of sustainable mineral processing. Central tenets of this approach include a recognition that, in complex systems, the behaviour of the whole system is more than the sum of the individual contributions, and that interactions occur in real time, often in subtle and complex ways. The focus is thus on the behaviour of the whole system. Indeed, a comprehensive understanding of the system through large-scale measurements should precede a study of parts or of idealised models of the complex system. The result will be a sound knowledgebase, better solutions to the challenges of sustainable development, and improved technology transfer. Developing such a framework will pose a formidable challenge, requiring significant time and effort as well as a confluence of diverse specialties and strategic collaboration. Fortunately, recent developments in the context of reagent optimisation provide us with a prototype of a holistic approach. We can also draw upon methodological innovations in the biological sciences, where the critical need for a systems approach is well recognised and significant advances have been made.

Sep 13, 2010

By K. G. Kebkal, R. Bannasch

"Because the operation of tethered underwater vehicles in the deep ocean or under drifting ice areas is very complicated or impossible, the application of autonomous underwater vehicles (AUV) is preferred or even the only possible solution. However, this implies the possibility of a direct and real-time control over all AUV functions, which is only achievable with the availability of accurate positioning/navigation and a high-speed communication link. This paper presents a flexible bottom- or surface-based solution enabling high positioning accuracy of underwater objects (harvester, AUVs, bottom nodes); specifically, a multifunctional system that combines Ultra Short Baseline (USBL) transceivers and Long BaseLine (LBL) stations deployed at a large depth. Moreover, each baseline transponder is equipped with a high-speed communication device to provide the means for real-time AUV control based on the information about its current position, e.g. navigate it with direct commands and operating its actuators and other mechanisms. Moreover a communication link with a high data rate can provide valuable visual information from the operation area.Depending on how many nodes the LBL grid comprise has, target transponder positions can be estimated with an accuracy of several to tens of centimetres. The purpose of the paper is to present the experiments with all key elements of the multifunctional Hydro-Acoustic USBL-aided LBL Positioning and Communication System."

Sep 1, 2014