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By G. V. Poropat

Roughness of a discontinuity may be an important factor influencing shear strength of the discontinuity. Traditionally, determining the roughness of a discontinuity surface and providing a numerical measure of the roughness has required considerable effort or specialised equipment. The development of new 3D imaging tools that are easy to use has provided effective fast and accurate means of creating 3D surface models from which roughness measurements can be readily obtained. These new techniques are versatile enabling a user to measure roughness along any desired profile and at any resolution up to the limit of the spatial subtense of a measurement on the discontinuity surface. This paper primarily reviews extensions to the use of 3D imaging that enable the measurement of roughness. Additionally we provide some examples of the measurements and examine some of the issues associated with extracting measures from the spatial data that will support estimation of shear strength.

May 1, 2009

By Y. M. Shneerson, I. V. Fomenko, M. A. Pleshkov, E. A. Ospanov, A. A. Shakhalov, S. S. Naboychenko

Low-grade copper concentrates (with copper content less than 20%) often contain impurities such as arsenic, zinc, lead, mercury, antimony and bismuth. The pyrometallurgical treatment of such concentrates is associated with several problems, which will ultimately affect the cost and the quality of copper cathodes as well as by-products. SRC Hydrometallurgy proposed a complex hydrometallurgical technology which allows the removal of impurities and the enrichment of low-grade copper concentrates to a quality which will be more suitable for pyrometallurgical processing. Laboratory batch tests and pilot plant results for the pressure leaching steps are shown in this paper. The key parameters of the leaching steps were determined and optimized. The quality of possible by-products were also determined. The developed flowsheet includes two pressure leaching steps: pressure oxidation (POX) and hydrothermal alteration (HTA). Both operations are carried out at 170°C with subsequent flotation of POX and HTA residues and recovery of copper, zinc and lead into separate concentrates for further processing. The development of the flowsheet was based on the Balkhash Zinc Plant (Balkhash, Kazakhstan), which had been non-operational since 2009. The developed flowsheet for processing of low-grade concentrates will utilize 80% of the existing equipment of the Balkhash Zinc Plant, thus leading to a significant reduction in required capital expenditure. INTRODUCTION As the age of copper mining operations advance, copper grades continue to diminish and impurity levels increase. Therefore, copper producers are forced to look for new innovative hydrometallurgical technologies which are able to handle low-grade raw materials and solve problems associated with impurities in an economically justifiable way. New technologies allow to extract valuable components selectively and to process low-grade concentrates which had previously been marked as non-technological and economically unviable. Hydrometallurgical technologies for processing of copper-containing materials can be divided into two main categories: chloride and sulfate (atmospheric, autoclave and bacterial) based technologies. Since the 1970s, many autoclave techniques for the processing of copper-containing materials have been developed and implemented (Naboichenko, 2002; Dreisinger, 2005; Habashi, 2009; Shneerson, 2011). The mineralogical composition of the ore (or concentrates), geographical location of the deposit, distance from industrial areas, availability of existing treatment facilities, availability of skilled labor, cost of electricity and cost of neutralization are some of the factors which are usually considered when the appropriate technology is selected (Halbe, 2002).

Jan 1, 2019

Mining Impact in Water Quality: Understanding the conflict Mining is an industrial process Metal mines that chemically process ore to concentrate metals such as copper and gold use more water than non-metal mines such as coal, salt and gravel. Tailing Ponds Water contaminated with high concentrations of metals, sulphide minerals, dissolved solids, or salts can negatively affect surface water quality, aquatic ecosystems and groundwater quality.

May 1, 2013

Post--Crunch Financial Management -An Overview A. The Industry and the Capital Markets B. .The SME -De-risking the Current and New Assets Followed by: C. The Lender?s Perspective on Re-financing?Jeff Stufsky, BNPParibas, NYCD D. .The Agency/Export Credit Lender Perspective?Doug Macaulay, EDC, Ottawa E. The Foreign Political Insurance Perspective?Pierre Vieillescazes, Carrick-Bend, Washington, DC ?Four Fundamental Metal Models No Longer Prevail. ?Mining is in new ?waters?: so be prepared (next page). ?Capital markets are uncertain-so be your own financier first ?If tight capital may remain, prepare to triage based on cash-flow production (not oz, lbs, tonnes, etc) ?Know your banker/financier(and it should know mining) ?In the past, it was ?know your borrower? ?The climbing team can fall if one climber carries too much ?Constantly re-assess the risk matrix (and j/v?s), and ?De-risk/diversify both the asset and the capital base

May 1, 2010

By Rebecca L. Jones

The paper addresses the application of XPAC AutoScheduler at the Fort Hills Energy Oil Sands Project to complete fast turn around ?what if? scenario testing of different mine schedules. Traditional scheduling approaches involve engineers making a ?best guess? at the required mining sequence, loading this sequence into a scheduling package and testing the results to determine if the schedule meets corporate objectives. This process is iterative and can be very time consuming. Autoscheduling techniques, on the other hand, are based on the engineer pre defining the mining rules and constraints of the deposit. The software then automatically selects a sequence of mining which the schedule should try and achieve, based off specified corporate objectives. Under this system the engineer is able to adjust the objectives and rules to evaluate numerous scheduling scenarios quickly and easily. An XPAC AutoScheduler model was built, documented, and implemented by Runge and Petro-Canada Oil Sands Inc. personnel in a month. It is currently being used by Petro-Canada Oil Sands Inc. to run multiple schedule scenarios, most taking less than ten minutes configure and ten minutes to schedule. The results of each schedule are tabulated with supporting graphs on; the bitumen grade profile, strip ratio, ore inventories and mined tonnage. In addition to this, the block model may be animated to show the progression of the resources mining the schedules.

May 1, 2008

By A. Kowalski

This paper presents methods of implementation and the added value that can be achieved by connecting personnel tracking systems and alarm-broadcasting systems. The authors point out the functions of the two systems that enable cooperation between them. Methods for connecting the systems on the surface and underground areas of mines require some intervention in both systems, so the authors point out a possible phased approach to introducing cooperation methods. Due to the fact that tracking systems in Polish mines are at an early stage of implementation, the article aims to provide new functionality, attempts to identify the needs of future users, and describes the experience of both production companies in terms of the development of cooperation methods.

Aug 1, 2013

By Enzo Angeles, Desmond Nanchengwa, Lee Julian, Julian Ruiseco

Since the early 1980s, surface hard-rock mining companies have searched for a blast movement model to enable grade control optimization efforts. Significant time and money were spent attempting to create blast simulations to aid post-blast grade control. Despite nearly 40 years of effort, practical blast movement models remained elusive until computing power reached levels that make real-time simulation possible. From the mid-1990s, mines have been creating in-situ grade control polygons and translating the polygon nodes horizontally to account for blast movement. In many cases, objects are placed in the blast volume and located post-blast to provide local vectors for these node translations. This method was always a compromise between practicality (2D) and reality (3D), but it was the only viable solution that matched the needs of operations. This study considers 21 blasts and evaluates the incremental value achieved by new processes unlocked through 3D modelling, while investigating challenges, limitations, and opportunities for each method.

Jan 1, 2023

By A. Siegmund, F. Mucciardi, Z. Yuan, B. Bulnes

With conventional heat pipe science as the starting point, a new heat transfer technology --- termed Thermopump technology, has been developed at McGill University and is now being tested at a number of industrial operations. This technology is of particular importance for transferring energy in high temperature / high heat flux environments where solutions based on current techniques are not available. One important application for this technology is in the metals recycling area wherein this technology has been used to make a waterless, non-consumable, high efficiency Thermopump oxygen lance. The viability and efficiency of this oxygen lance have been demonstrated by preliminary plant trials in a reverb furnace for the recycling of lead-acid batteries at the RSR Corporation. Full-scale commercial trials of the Thermopump (TP) oxygen lance have been carried out at the RSR Corporation. The results from these tests will be presented. In addition, some applications of the Thermopump technology for other metal recycling processes will also be discussed in this paper.

Jan 1, 2004

By Apoorva Bajaj

Iron ore mines of Steel Authority of India Limited (SAIL) have to comply with strict chemical composition norms laid down for iron ore lumps supplied to its steel plants. This requires a careful planning of the overall ore excavation operation. In general terms, the problem can be stated as: Given the chemical composition of ore for all excavation sites, excavation capacity of each shovel, distance of each excavation site from the crushing plant and the number of dumpers available for transport of the ore, find out the percentage of ore to be excavated from each excavation site such that the production rate is maximized and the chemical composition norm is satisfied to the best possible extent. This paper presents an approach to solve this problem using Branch and Bound method. The specification for r.o.m. quality has been modified by incorporating a new parameter, ?Al2O3 / SiO2? ratio, which has a significant effect on the performance of iron blast furnace.

Oct 1, 2009

By R. Ramirez

Atlantic Copper Refinery (Huelva, Spain) has operated the ISA permanent cathode technology since 1995. The current production rates are 260,000 t/y cathodes and 730 t/y anode slimes. These slimes undergo an atmospheric leaching in which their copper content is reduced from an average value of 24 % to 16 %. In June 2005 an optimization study of the leaching conditions was carried out aimed at lowering the copper content in the slimes to less than 8%. At the same time, a new mixer (Outukumpu Technology GLS-mixer) was installed in one of the three leaching reactors. As a result of the improvement of the leaching performance and to prevent the return of tellurium to the tankhouse, a cementation plant was commissioned in July 2005 to ensure a Te content below 50 ppm in the Cu-rich leachate. This paper describes the results of the improvement of the leaching conditions and the operation of the new tellurium removal plant.

Jan 1, 2007

By J. Standen T.

The main purpose of this publication is to present relevant advances in processes and technologies of importance for consideration in the design of new refineries and the modernization of existing refinery facilities. Operation at current densities of between 300 A/m2 and 350 A/m2 is already part of the criteria customarily implemented on recent projects. This is due in part to the development of permanent cathode technology. In recent years, this technology has also been integrated with process control and automatic electrode handling and preparation machines. The combined implementation of these technologies has the advantage of enabling the process to be monitored, thus assuring traceability and allowing greater knowledge of the process to accrue.

Jan 1, 2007

By Wayne F. Luinstra, Frédérique Vincent, André R. Laplante

"A test to determine the amount of gravity recoverable gold (GRG) in an ore is described. Typical GRG results are given; possible uses are discussed. A case study of how the technology was used at Hemlo Gold Mines is presented.IntroductionUsing gravity to supplement either flotation or cyanidation is a well established practice in the gold industry. It differs from most recovery circuits in that most of the gold recovered by gravity would be recovered in any case by the circuit downstream, be it flotation or cyanidation. The economic justification of gravity is therefore based on small margins (for example. a net smelter return of gravity gold of 99%, as opposed to 94% by flotation). It was easily demonstrated when either flotation or cyanidation were relatively inefficient processes, and labour costs low (as gravity can be labour intensive). Over the past thirty years, the advent of better flotation machines (flash, column, high capacity), more effective collectors, and better control systems has increased flotation's metallurgical performance, thereby decreasing the incentive for gravity recovery. Cyanidation technology has undergone similar changes, with the advent of activated carbon, oxygen and lead nitrate addition, and improved impeller design.Today, gravity could remain an attractive option only inasmuch as it can be implemented with very low capital and operating costs. This has resulted in a relative shift away from gold gravity recovery (except for alluvial deposits), in the seventies and eighties. For example, as of the early nineties, gold gravity recovery has disappeared from the typical South African flow sheet. The advent of the Knelson Concentrator, at the beginning of the eighties, foreshadowed a resurgence of gravity recovery, as gold's grinding and classification behaviour (Banisi, Laplante and Marois, 1991) makes it possible to achieve adequate gold recoveries with very simple, Knelson based, gravity circuits (Laplante et al., 1994).Consider for example the Hemlo recovery circuit, made of a single 61 cm x 122 cm (2' x 4') screen, an automated 76 cm (30"") Knelson feeding a Gemeni table, to produce a 70-80% Au concentrate which accounts for approximately one fourth of the gold production (about 3 million grams per year). The low capital and operating costs make it possible to justify the gravity circuit on the basis of savings in other operating costs (e.g. fewer carbon stripping and reactivation cycles). Any improvements in recovery, which would at Hemlo be difficult to measure, would be additional benefits. Such a circuit is rapidly becoming a standard in Canadian and Australian operations.The justification for installing a gravity circuit must be first based on an estimate of how much gold it will recover (irrespective of what the potential benefits are). This is a function of the nature of the gravity circuit to be installed; however, Knelson circuits, by their very simplicity and efficiency, limit the options. This leaves the amenability of the ore to gravity recovery as the single most important parameter. Various approaches can be used to characterize this response (Woodcock, 1993). The present work sought a route which would fulfil the following criteria:"

Jan 1, 1996

By Z. D. Hora

Air hough diatomite is known in many parrs of British Columbia, deposirs of mineable size have only been found in the area between Kam/oops and Quesnel in the sourh-cenrral parr of rhe province. Ar Quesnel, commercial producrion has continued since 1950 from diatomite lenses up ro 35m rhick. OCCURRENCES of diatomite are reported from many parts of British Columbia, but deposits of mineable size are known only from the area between Kamloops and Quesnel. Only Quesnel deposits have yet reached the production stage. Commercial production dates back to 1950, and up until 1979 approximately 22,700 tonnes of diatomite had been produced. Most extracted diatomite was processed until 1980 by Crownite Industrial Minerals Limited in Quesnel to produce an oil absorbent and animal bedding. Smaller shipments are used to make insulating bricks on the lower mainland. Deposits near Quesnel extend 40 km along the western bank of the Fraser River from Quesnel to Alexandria; most production has come from Lots o. 6132 and 906. Di atomite is present as discontinuous lenses up to 35 m thick. Diatomite beds Industrial Minerals in Canada are of Upper Miocene age and are overlain by plateau basalts. Diatomite consists almost exclusively of Melosira granulara diatoms that are usually very small and mixed with variable amounts of clay, ilt and volcanic ash. In recent years, extensive beds of diatomite were identified near the confluence of the Chilcotin and Fraser rivers. Diatomite in this locale is a part o f the Upper Miocene to Pliocene Chilcotin Group of sedimentary rocks that are overlain by olivine basalt and related luffs. A deposit near Red Lake is situated 50 km northwest of Kamloops. Diatomite beds occur in the Tranquille Series of Eocene age and are similar in composition to those in the Quesnel area. The Red Lake deposit is abo ut 4 m thick but its areal extent is only a few tens of hectares.

Jan 1, 1984

By James F. A. Hatley

Northern Saskatchewan comprises an area of about 350 000 km2 and boasts some of the world's largest known high-grade uranium deposits. The successful mining of these deposits, however, can not be accomplished without overcoming technical challenges. Not only is the high grade of the uranium ore challenging, but mining methods need to be developed to deal with groundwater at very high pressures, and ground conditions that vary substantially from excellent to wholly unconsolidated clays and sand. This paper discusses the various mechanisms of inflows at the three of the Cameco Corporation Mines in Northern Saskatchewan. The risk of inflows is quantified in terms of unique challenges from hydrogeologic conditions, rockmass integrity, and uncertainty in geologic conditions. Mitigation strategies in case of an inflow are also briefly described. The paper concludes by addressing the impact of institutional rules (corporate standards) on minimizing, monitoring, and controlling the probability and/or impact of unexpected inflows.

Aug 1, 2010

By William H. White

"AbstractThe value of anomalous metal contents of trees as an aid to the discovery of mineral deposits was tested under field conditions cm four known ore deposits. Results indicate that a base-metal deposit, or any deposit containing zinc or copper, casts a 'metal shadow' into the overlying soil which remains approximately positioned above the deposit, regardless of the type of overburden or the movement of groundwater.The unusually high content of zinc or copper in trees growing within the limits of this 'metal shadow' constitutes an anomaly which can be detected and ,plotted in the field The field kit and certain points of the field technique are described briefly; and the characteristics of plant anomalies and possible limitations of their use are mentioned.IntroductionRecent investigations concerning the metal content of trees indicate not only wide variations in the metal content of different species and in different parts of the same tree but, in addition, suggest that the metal content of a tree is related to that of the subjacent bed-rock. Abnormal values found by Warren, Delavault, and others in trees growing above or near orebodies suggest a new tool which may prove of considerable value in exploration work. Evaluation of this new tool must involve consideration of the following questions:(I) Is the technique one which can be used under field conditions by persons not specially trained; and can results be duplicated within reasonable limits of error? Rather than taking tree samples for subsequent laboratory analysis, it is highly desirable that analyses be made on the spot. This allows anomalous results to be checked and additional samples may be taken at key points."

Jan 1, 1950

By Yuhua Wang, Wei Sun, Dongfang Lu, Yuehua Hu, Tao Jiang

"With the continuous depletion of high-grade tungsten ores, the low-grade refractory wolframite has become an important source for the tungsten industry. However, the large-scale utilization of low-grade refractory wolframite is disappointedly scarce, it is due to leanness of valuable minerals, complex mineral characterization and use of toxic collectors.The aim of this study was to develop an environment-friendly processing flowsheet, which was used for beneficiation of low-grade tungsten ore containing 0.45% WO3 from New Brunswick in Canada, and the content of arsenic is 0.68% in this materials. The objective of beneficiation studied was to obtain a concentration containing 60% WO3 with less than 0.5% of arsenic under the condition without any flotation reagents. In this environment-friendly processing flowsheet, magnetic separation technology, classification and gravity separation technology were combined and employed. Firstly, magnetic separation was employed for the first pre-concentration process, over 95% of the feed was rejected as the final tailings, meanwhile, over 85% of arsenic minerals were removed with tailings. Secondly, gravity separation tests were employed on the classified magnetic pre-concentrate in the second pre-concentration process, a second pre-concentrate with WO3 grade of 54.32% and As grade of 5.41% was obtained. Finally, two stage magnetic cleaning were conducted on the second pre-concentrate for upgrading the second pre-concentrate, the mostly arsenic and gangues were removed from the second pre-concentrate. Finally, this novel processing achieved an effective recovery of fine wolframite from low grade tungsten ore with high arsenic. A concentrate with WO3 grade of 64.81% were obtained in new opened processing flowsheet, and As grade was less than of 0.5% in this concentrate. Furthermore, remarkable feature of this processing flowsheet is environment-friendly due to avoid using the toxic flotation reagents during the whole mineral processing.INTRODUCTIONTungsten is an essential metal and is the most widely used in industrial production such as national defense, electro-mechanical products, textile and leather sectors (Srivastava et al., 2000). Wolframite and scheelite are the main mineral sources of tungsten metal. With the continuous depletion of high-grade tungsten ores and the increasing demand for tungsten alloy, the low-grade refractory wolframite has become an important source for the tungsten industry. However, the large-scale utilization of low-grade refractory wolframite is disappointedly scarce, it is due to leanness of valuable minerals, complex mineral characterization and heavy use of toxic collectors."

Jan 1, 2016

"In 2000 the CIM Council approved the CIM Standards on Mineral Resources and Reserves – Definitions and Guidelines, developed by the CIM Standing Committee on Reserve Definitions. The Definition Standards established definitions and guidelines for the reporting of exploration information, mineral resources and mineral reserves in Canada. The Mineral Resource and Mineral Reserve definitions are incorporated, by reference, in National Instrument 43-101, Standards of Disclosure for Mineral Projects, which came into force in Canada in February 2001 and was amended in December 2005.CIM DEFINITION STANDARDS- For Mineral Resources and Mineral ReservesPrepared by the CIM Standing Committee on Reserve DefinitionsAdopted by CIM Council on December 11, 2005FOREWORDCIM Council, on August 20, 2000, approved the ""CIM Standards on Mineral Resources andReserves - Definitions and Guidelines,"" developed by the CIM Standing Committee on ReserveDefinitions. The CIM Definition Standards on Mineral Resources and Reserves (CIM DefinitionStandards) establish definitions and guidelines for the reporting of exploration information,mineral resources and mineral reserves in Canada. The Mineral Resource and Mineral Reservedefinitions were incorporated, by reference, in National Instrument 43-101 - Standards ofDisclosure for Mineral Projects (NI 43-101), which became effective February 1, 2001.At the August 20, 2000 Council meeting a new CIM Standing Committee on ReserveDefinitions was established consisting of the following: John Postle, Bernie Haystead, LarryCochrane, Normand Champigny, Mike Hoffman, Colin McKenny, Jack Mullins, Phil Olson,Fred Payne, Jody Todd and Joe Ringwald.Subsequent to the publishing of the August 20, 2000 CIM Standards on Mineral Resourcesand Reserves, various CIM committees have compiled and published more extensivedocumentation on mining industry standard practices for estimating Mineral Resources andMineral Reserves. These standard practices provide more detailed guidance than that containedin the August 20, 2000 CIM Standards on Mineral Resources and Reserves. On November 14,2004 CIM Council adopted an update to the CIM Definition Standards to reflect the moredetailed guidance available and effect certain editorial changes required to maintain consistencywith current regulations. This version of the CIM Definition Standards includes further editorialchanges required to maintain compatibility with the new version of National Instrument 43-101which is expected to become law at the end of 2005. The CIM Definition Standards can beviewed on the CIM website at www.cim.org."

Jan 1, 2003

By D. McConchie

The use of Bauxsol? (physically and chemically modified alumina refinery residues) to treat acid rock drainage (ARD), and sulphidic waste rock and tailings, provides new options for managing some intractable environmental problems at both derelict and active mine sites. Treatment of ARD waters using the Bauxsol technology shows that the effectiveness of raw Bauxsol material can be enhanced by including modest amounts of selected industrial minerals or common chemical additives. The type and amount of additive required and the amount of the blend needed to treat the water depends on the initial composition of the water and the target water quality; for some ARD waters, optimum treatment may require one or more changes in the type or amount of additive used. Maximum treatment efficiency can be achieved only when a balance is maintained between the rate of trace metal binding and the rate of change in water pH; adding treatment reagents faster than can be accommodated by the reaction kinetics will not result in more rapid water treatment. This paper presents the results for treating several ARD waters to illustrate the importance of blend selection and treatment procedure. Although treating ARD water is often necessary, this strategy treats the symptoms rather than the cause. The best permanent solution is to treat the sulphidic waste rock or tailings such that they do not continue to oxidise and produce acidic metal-rich leachates; sulphide oxidation needs to be stopped or slowed to a rate that can be accommodated by normal environmental processes. Capping lined impoundments is not a solution because all caps and linings will inevitably fail some time in the future creating a nasty surprise for some future generation. Adding lime is also less than ideal because the lime leaches from the treated material; treatment often appears to be effective for a few years and then fails. Bauxsol technology offers effective alternatives to conventional liming and capping procedures and Bauxsol blend application rates and procedures can be planned to ensure that no acidic or metal-rich water can ever escape from the site. Bauxsol can be physically mixed with the sulphidic mine wastes or it can used to form subsurface permeable reactive barriers, or both. Bauxsol treated waste rock and tailings can be immediately and effectively revegetated. In this paper we present leachate quality and plant growth rate data for several sulphidic waste rock and tailings deposits treated using the new technology.

May 1, 2003

By Robert J. McCarthy

Mining has a record of achievement in developing and adopting new technology to facilitate the extraction of increasingly challenging resources. Certainly larger, or more capable, mining equipment has allowed mining companies to mine mineral deposits at lower unit costs; however, there has also been the advent of computerized systems that aid in the management and tracking of mining operations. Unfortunately, the latter computerized systems have not always had the success anticipated with their implementation. This paper explores the view that increased transparency of the planning and operating cycle in a mine, as provided by certain computerized systems, can result in some resistance from those whose work becomes ?exposed?. Examples are drawn from industry-leading technologies for both mine management and reconciliation that illustrate the issues and challenges that result. The adoption of appropriate change management principles is suggested as a best practice in planning and mitigating the challenges in implementing technologies which increase transparency in the mining environment.

May 1, 2011

By Shigeru Sarata

A wheel loader is one of the main loading machines in open pit mines. The authors have been conducting research and development on autonomous operation of loading by a wheel loader. The most common loading method by a wheel loader is the ?V shape? path method. The loading operation consists of cycles of scooping from the pile, traveling to the dump truck, loading on the dump truck and return traveling to the scooping point for the next cycle. The traveling path includes a switchback in the middle of the path. The moving direction of the loader is changed at the switchback point. From observation of V shape path loading operations by experienced human operators, it seems that they control the bucket position between the scooping point and loading point on a shorter path for higher productivity. A new path planning method is proposed this paper, whereby a point on the center of the tip of the bucket is controlled moving from the initial point and the final point. The motion of the controlled point is generated by the wheel steering the wheel loader. The controlled point is moved along the direction to the final point; however, the motion and mechanism of wheel loader have restrictions, such as the velocity of the loader, the steering angle, and the steering angular velocity. Because of these restrictions, the path of the controlled point is not a straight line between the initial and final points. When this control method is applied between the scooping and the dumping points directly, the planned path is not stable in the leaving wing of V shape path. Therefore, the initial position of the wheel loader is set at the switchback point, then two approach wings to the scooping and the dumping points are made. The whole planned path is obtained by connecting the two paths. The shape of the planned path is strongly affected by the position of the switchback point, as well as the scooping and the dumping points. By simulation of path planning at different switchback points with the combination of the scooping and the dumping points, the paths for more effective loading are determined. The results of the simulation are presented in the paper.

Aug 1, 2013