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By Jean Robitaille

La découverte du gisement du puits Penna a nécessité une révision complète de tous les circuits du concentrateur Laronde pour permettre, premièrement, l?adaptation du procédé à la nouvelle minéralogie et deuxièmement, l'accroissement du tonnage de 1800* à 4500 t/j. Aux circuits existants de broyage, de flottation du cuivre, de cyanuration et du charbon en pulpe, les circuits suivants furent greffés : broyage semi-autogène, flottation du zinc, manutention des concentrés (épaississage, filtration, entreposage et chargement automatisé), décantation à contrecourant et précipitation au zinc, destruction des cyanures et remblai en pâte. Cet article se veut une revue des différentes étapes du projet d'agrandissement du concentrateur qui se sont effectuées par phases progressives de 1997 à 2000. De plus, une description des nouvelles technologies sélectionnées et implantées est présentée.

May 1, 2001

By A. G. Roach

MILLING of Nova Scotia gold ores began in 1862 with arrastras and wooden stamps and has progressed to heavier stamps followed by tables and other forms of concentration for the recovery of the sulphides. Chlorination and cyanide leaching of the concentrates has been practised, and in 1936 the combined amalgamation and all-sliming cyanidation plant of Seal Harbor Gold Mines was built. It has since been found that it is not necessary to cyanide the full tonnage and now only the concentrates are being so treated. From his experience in this enterprise, the writer presents the accompanying flow-sheet and supporting comments. While he has not the temerity to maintain that it is the best or only flow-sheet for Nova Scotia gold ores, he feels that it warrants thoughtful consideration by members of the milling fraternity of the Province. THE ORE The gold in Nova Scotia ores occurs both free and intimately associated with sulphides-chiefly arsenopyrite. Much of the free gold is quite coarse and crystalline. This is especially true when it occurs in white quartz. When in the slate, it is usually in thin plates and scales, frequently coated and discoloured. The values bound up in the sulphides are not amenable to amalgamation and must be recovered by other methods-concentration, followed by smelting or fine grinding and cyanidation. While high freight and treatment charges apply on concentrates shipped from the Province to smelters, a considerable quantity has been so disposed of in the past. However, it is hoped that a customs cyanidation plant will soon become available to producers of these auriferous concentrates in Nova Scotia.

Jan 1, 1938

This paper describes results of an investigation of fracture during tube expansion of 5052 and 5754 aluminum seam-welded tubes to optimize the forming of aluminum tubes during hydroforming. The tubes were produced in laboratory by press forming of tubular blanks and pilot-scale high frequency induction welding. The effect of property mismatch between the weld and base metal has been investigated. The material work-hardening was obtained by roll forming of sheet blanks in the 0-temper and H32 temper condition. The results showed that a significant work-hardening can be present in aluminum tube without causing weld fracture during tube expansion. The work-hardening increases the yield-strength mismatch between base metal and weld. Annealing reduces the hardness of base metal leading to more uniform deformation during tube expansion. As a result the occurrence of weld fracture is reduced. The study showed significant deformation of the welds during tube expansion. Weld thinning can be as large as parent-material thinning before fracture. To avoid fracture at the weld joint, good formability and high yield strength of the weld is needed. FEM simulation showed that minimizing the width of the weld joint can reduce thinning of the weld.

Jan 1, 2004

By Suman Giri

Non-Intrusive Load Monitoring (NILM) is a method of extracting appliance-level power consumption information from aggregate circuit-level data with the goal of giving users feedback regarding their energy consumption so they can take control of their consumption habits. In this paper, we present a novel algorithm for classification of on and off states of appliances. We compare the performance of our algorithm in on state detection with a pervious paper that evaluated the same dataset and show that it performs up to 13% better. We also present the results of a case study where we collected data for different modes of a cooktop, microwave and dishwasher and used our algorithms to perform power estimation. The error on ten different setups in the test bed ranges from 1% to 32%. We discuss our results and lay out ideas for future work.

Aug 1, 2013

By P. C. Santos-Munguía, F. Nava-Alonso, O. Alonso-González

"The gold recovery of a Mexican cyanidation plant, in Sonora, has been decreasing due to the increasing presence of gold tellurides. This work presents the results of different processes aimed to recover the remaining gold from the cyanidation tailings of the operation. The cyanidation in the mine is performed at 0.1 g/L NaCN and pH = 10.3, adjusted with lime. The treatments studied in the laboratory with these tailings were: cyanidation at higher cyanide concentration than that used in the plant, cyanidation with oxygen injection, cyanidation with oxygen and lead nitrate addition, and thiourea leaching. The results obtained with each of these treatments are presented and discussed with the final objective of proposing a method to recover the gold associated with tellurium.INTRODUCTION It has been demonstrated that gold telluride is refractory to the conventional cyanidation process and, for this reason, some alternative methods to recover precious metals from tellurides have been proposed. (Zhang et al., 2010). These include cyanidation with modified conditions or the use of non-cyanide leaching agents. This work presents the gold leaching results of tests performed with a sample of cyanidation tailings obtained from a Mexican deposit containing telluride species. The mine exploits a mesothermal deposit with a molar Te/Au ratio of 1, containing also lead, molybdenum, bismuth and tungsten. Gold is recovered from the ore by standard cyanidation, however, lately the gold recovery has decreased, likely due to the tellurium content of the ore. The sample used in this work was the cyanidation tailings of this deposit. It was treated in the plant by cyanide heap leaching (0.1 g/L NaCN, pH = 10.3 adjusted with lime). Some gold remained after the cyanidation and it was thought that this gold was associated with tellurium. The objective of this work was the recovery of the remaining gold from the tailings by an alternative process."

Jan 1, 2017

By V. A. Chanturiya, T. N. Matveeva, N. K. Gromova, T. A. Ivanova

"The research is aimed at solving the problem of increasing the extraction of gold from refractory ores, which are the main source of growth in gold production in the next decades. The purpose of the research is the development and scientific substantiation of the reagent modes for flotation extracting of gold from refractory ores using eco-friendly low-cost herbal modifiers (HM), providing increase in gold recovery and quality of gold concentrates. In the course of research laboratory techniques for the preparation of experimental samples of HM were developed, which included the sequence of operations of grinding Heraclium leaves and stems grinding, 2-stages extraction at a temperature of 50-60 °C, short-term ultrasonic treatment, filtration and subsequent unification of extracts. According to the developed method, the experimental samples of HM and conducted research were tested to analyze their sorption and flotation activity related to the extraction of gold from refractory gold ores.New data on adsorption and flotation properties of Heraclium stems and leaves extracts (HSE) in selective flotation of Au-sulfide minerals were obtained using UV-spectroscopy, scanning electronic and laser microscopy and atomic force microscopy. The dimensions and shapes of adsorbed hydrophilic films of herbal reagents were identified and mechanism of formation of stable insoluble compounds on the surface of minerals in flotation was explained.Research flotation tests carried out on samples of refractory gold ore of one of Russia deposits showed the possibility of effective use of herbal modifiers to improve qualitative and quantitative indicators of enrichment compared with the standard reagent regime. New reagent modes, using herbal modifiers in an amount of 5 to 10 ml of the extract (300 - 600 g / t, respectively) improves the quality of the concentrate: gold content attains 14.7 g / t, 1.34 times higher than in the baseline experiment and provides a gain of 3.13% extraction.The developed reagent regime with herbal modifiers is the author's original design, patented (patent of the Russian Federation) and have no analogues in the world of mineral processing. (Application number 2015116125 from 04.28.2015, ""The method of flotation separation of sulfide minerals using herbal modifier"", Russia). Actual application of new plant extracts as modifiers in flotation of sulfide minerals is the possibility of replacing of highly toxic chemical compounds by environmentally safe substances of plant origin. Implementation of the developed methods of extracting gold from refractory minerals with herbal modifiers will help to improve gold recovery at 3-5% and the quality concentrate of not less than 1.2 times, leading to higher productivity and a reduction of the negative man-made effects on the environment ."

Jan 1, 2016

By Raja V. Ramani, Sukumar Bandopadhyay

"The dispersion of diesel contaminants into the mine atmosphere is a variant of general class of diffusion-dilution problems relevant to underground mining practice. The equipment operations in underground mining are characterized by different activities with different time duration s, i.e. varying duty cycles. Therefore the volume and quality of diesel emissions and consequently, instantaneous concentrations are quite variable. Design of mine ventilation systems under these conditions becomes complex. In this paper, the development and use of mathematical models of mine production system, the engine exhaust air quality and engine exhaust transport in the design of ventilation system are discussed.IntroductionThe turbulent diffusion of suspended matter in an atmosphere is not only a topic of considerable intrinsic interest to the mathematical physicist and meteorologist, but also a problem of great practical interest. Release of particulate matter into the atmosphere at large has created o ne of the acute problems of the present day. Pollution of environment by industrial and domestic smoke, fumes and grit is widespread and has necessitated extensive studies in order to determine the concentration and distribution of pollutants in various areas. Pollutants discharge from stacks, whether chemical or radioactive, give rise to similar, but more localized, problems. The laws which govern turbulent diffusion in the atmosphere are also applicable to the study of the diffusion of toxic gases and the deposition of radioactive dust from nuclear explosion.The dispersion of diesel contaminants into the mine atmosphere is but a variant of a general class of diffusion-dilution problems relevant to underground mining practice. Most of the mine air pollutants, such as respirable dust, methane, diesel exhaust, and blasting fumes are produced in the face areas and haulage ways. Understanding of their dispersion in the mine airways is important to calculate their concentrations. In this paper, the development and use of mathematical models of mine production system, the engine exhaust air quality and engine exhaust transport are discussed. The over-all objective of this research effort is to evaluate the impacts of dieselization on production and ventilation systems and to aid in mine planning and design, as shown in the flow model in Figure I."

Jan 1, 1983

By L. A. Homeniuk, R. J. McH. Clark

"The Maurice Bay deposit, the Stewart Island showing, the Fond-du-Lac deposit, the Middle Lake showing and the Nisto deposit are located on the North Rim of the Athabasca Basin. They are probably unconformity-related. These occurrences tend to be small. The Fond-du-Lac and Maurice Bay deposits are the largest and contain 450,000 kg and 650,000 kg of U10 8 respectively.Pitchblende is the main uranium mineral of all the occurrences, except at Middle Lake where autunite predominates. A II of the deposits are overlain and partially hosted by the Manitou Falls Formation of the Athabasca Group, except the Nisto deposit which is entirely within basement rocks, and the Maurice Bay deposit which is partially within the basement and overlying the Fair Point Formation of the Athabasca Group.The North Rim deposits are considered to be genetically similar to the other unconformity-type deposits found in northern Saskatchewan. It is suggested that a mechanical concentration of uranium may have occurred in heavy mineral beach sand type placers. The stability of the uranium minerals may have been enhanced by special local conditions. The fossil placers, after hydrothermal alteration and enrichment, would form the apparently ""rootless"" occurrences of uranium found totally within the sandstones above the unconformity.IntroductionAt least five deposits and showings and one train of mineralized glacial erratics of unknown provenance have been located on the North Rim of the Athabasca Basin from Maurice Bay in the west to Black Lake in the east. Distributed over a distance of 250 km, (Fig. l), they occur near the edge of the Basin, and are probably unconformity-related. The following have been identified from west to east (Fig. 2): The Maurice Bay deposit, the Stewart Island showing, the Isle Brochet train, the Fond-du-Lac deposit, the Middle Lake showing, and the Nisto deposit."

Jan 1, 1986

By Abdelhak Bentriou

The choice of tool for the first well of an oilfield or gasfield is an important factor, given that we will be drilling with the same type of tool for the entire phase and explains why we need to have another type for comparison based on the efficiency of the tool and its ability to crush the rock, and the wear of different types of tools. Development of theoretical and practical tests to determine the optimal regime for drilling is required to take into account the characteristics of rock layers crossed. Classification of boring tools is based on the geometry of the teeth and depends on the hardness, the abrasiveness of rocks as well as their hydraulic system, but it is better to classify them according to the working conditions with a coefficient designating a discriminant. This is called physical characteristic of the drilling tool. The goal is to designate each element of the tool by a coefficient. Results were obtained from laboratory tests. Modeling the initial rate of progress by different types of tools allowed us to determine an adequate mathematical model of the speed initial progress in clean conditions. Using experimental data and statistics we have established the mathematical model of the average speed of progress as a function of time. With these equations we can determine the wear evaluation and analysis of these factors as an approach to classification according to their characteristics. The main equations for the selection of drilling tools will be based on the optimization of drilling parameters for each type of tool. After analysis, we choose the tool that gives a better forward speed with an optimal load and axial rotation.

Aug 1, 2013

By C Kumar

Scaffolds are temporary structures built to facilitate construction activities on site. A considerable amount of resources are allocated to scaffolding on industrial projects. Variability in geometrical features and space accessibility of structures on industrial projects, in addition to involvement of different trades that share the use of scaffolds, requires an extensive understanding of scaffolding requirements. Hence, it?s important to plan and estimate scaffolding man-hour requirements for the different construction areas on an industrial site. Contributing factors involved in such estimates include the list of trades that work in a construction area, trade working hours, volume of work, geometry of equipment erected, etc. A simulation template for predicting scaffold erection man-hour values for individual construction areas in an industrial project was developed in Simphony 4.0. The template is based on mapping the geometry of equipment and other factors to man-hours of scaffold work. The template facilitates the use of distributions as inputs and produces a range estimate of scaffold man-hours. The mapping is based on a linear regression model derived from existing project data from PCL Industrial Management Inc. The template is being further developed to incorporate the ability to predict scaffold erection schedule and material requirements based on construction work areas or equipment lists of an industrial construction project.

Aug 1, 2013

By D. Cruden

DISCODAT is a system of computer programs written for CANMET, Canadian Department of Energy, Mines and resources, to be used in analyzing geological data for rock slope design. The programs were written in Fortran IV for an IBM 360/67 computer. A program conditions field data from field forms for storage in a line file. Data may be selectively retrieved from the line file by a general retrieval program which uses a variety of relational operators. The retrieved data may be displayed as structural diagrams or histograms produced on a line printer or in a number of maps produced on a drum plotter. There is a logical sequence which leads to the characterization of those elements of the subfabrics of a rock mass which may be kinematically active. Structural domains within the rock mass can also be outlined by a procedure described as areal analysis. Costs for a complete analysis are usually substantially less than $l/discontinuity.

Jan 1, 1978

By A. Saki, P. Gebski, W. Ying

Industrial smelting furnaces are subjected to significant structural changes and deterioration caused by the conditions under which they operate. The current methods for the structural assessment of furnaces include visual inspections, analysis of thermal data, acousto ultrasonic-echo (AU-E) of the refractory lining and surveying of the key structural elements. Acoustic Emission (AE) non-destructive testing (NDT) technique has proven its capabilities for continuous monitoring of industrial installations and structures. Recently, Hatch Ltd. has been successful in applying acoustic emission for monitoring furnace tapblocks, and expanding the scope of the acoustic emission monitoring to the structural integrity of the entire furnace. The capability of detecting emissions related to the fracture development in the furnace shell, movement of the refractory, electrode arcing, combined with efficient source location algorithms makes an acoustic emission system a comprehensive tool for the real-time furnace integrity monitoring. In this paper the concept of such state of the art system for structural integrity assessment is presented. The initial results of the acoustic emission monitoring together with data analysis techniques are discussed.

Jan 1, 2011

By Donald S. Cameron

By dispersing gold in high surface area form supported on metal oxides, its inert character can be transformed to make economical, effective catalysts. Gold has already been demonstrated in a number of fuel cell applications such as gas phase catalysts, electro-catalysts, and electrical connectors. In this paper, the various types of fuel cell systems are reviewed, and several opportunities for gold identified. Low temperature fuel cells, including alkaline and solid polymer electrolyte types rely on high surface area platinum group metal catalysts which are highly susceptible to poisoning by low concentrations of carbon monoxide in the fuel supply. Hydrogen is frequently obtained by steam reforming hydrocarbons, followed by the water gas shift (WGS) reaction. A promising initial use for supported gold catalysts is in catalysing this WGS reaction. Research has shown that gold supported on iron oxide (Au/a-Fe2O3 ) WGS catalysts are more active than the current commercial copper oxide / zinc oxide catalysts, and effective at temperatures as low as 120oC. Products from reformer/ water gas shift reactors can be further purified by removing traces of carbon monoxide. If a small proportion of oxygen is introduced into the fuel gas stream, carbon monoxide can be preferentially oxidized to carbon dioxide even in the presence of hydrogen. Gold nanoparticle catalysts on iron oxide support (Au/a-Fe2O3 ) have exhibited higher activity than commercially available platinum on alumina (Pt/?- Al2O3 ) preferential oxidation catalysts. The low temperature of this reaction may make it feasible to incorporate these catalysts within the fuel cell itself. Proton exchange fuel cells provide several possible applications for catalytically active gold and its alloys. Carbon supported platinum group metals would benefit greatly from improved electrical conductivity if gold replaced some or all of the carbon support material. As electrode current densities are raised, electrical resistance constitutes an increasing proportion of voltage losses within the fuel cell. Dramatic reductions in cell stack voltage losses have already been demonstrated by reducing inter-cell contact resistance using gold plating. The low temperature oxidation properties of gold catalysts have been investigated in controlling gaseous emissions from direct methanol fuel cells, and gold also provides essential catalysis in building direct borohydride oxidation fuel cells. The prospect of a range of other applications for gold in fuel cells to contribute useful improvements in corrosion resistance and conductivity is assessed. Globally, fuel cells have been developed for a wide range of applications including stationary generators, cars and buses, industrial vehicles and small portable power supplies, each of which represents a substantial market. Hence there are likely to be many and varied opportunities for gold catalysts to contribute to the performance and economics of the systems being commercialized.

Oct 1, 2003

By G. R. Cope, J. S. Getsinger, K. D. Lund, T. Neale

"Mineral exploration in the Sicker Group, a belt of Paleozoic volcano-sedimentary rocks on Vancouver Island, has traditionally centred on auriferous polymetallic volcanogenic massive sulphide deposits such as those currently mined by Westmin Resources Ltd. near Buttle Lake. Recently, however, the focus of exploration in the Sicker Group has shifted toward targets of structurally controlled gold concentrations, with notable success. Major north and northwesterly-trending structural features such as the Cowichan-Horne Lake break (one of several regional high-angle thrust fault s active throughout a long period of geological time) and related fault systems have contributed to localization of gold mineralization.Using the extensive information database compiled by MPH Consulting Limited during numerous exploration projects in the Sicker Group, two cross sections through areas with significant gold occurrences southeast of Port Alberni are presented. The cross sections combine geological, geochemical and geophysical data in an attempt to emphasize the relationship between structural trends and gold mineralization. Examples from specific properties, including gold discoveries along the Mineral Creek fault zone, are used to illustrate this relationship."

Jan 1, 1990

By P. J. Adams

Environmental regulations require means for controlling emissions of SO2 NOx and particulate when burning coal. The combustion of coal in limestone fluidized beds is one of the most promising techniques for the necessary reduction in emissions. Fluidized-bed firing, furthermore, offers potential economies in capital equipment. The world's largest steam generator applying fluidized-bed techniques was built under the sponsorship of ERDA and installed in Rivesville, West Virginia. This paper describes the design and discusses the start-up and development difficulties which were experienced during the period from initial operation to current readiness for commercial operation. Other developments leading to utility and industrial fluidized-bed steam generating equipment are reviewed. The future potential of this promising technique is discussed.

Jan 1, 1979

By J. P. Nicoud

"The Frog's Leg project is located in the Kundana mining centre 22 kms West of Kalgoorlie, in Western Australia. The Mines and Resources Australia (MRA) Dioro Exploration Joint Venture has had considerable exploration success centred on the high grade Frog's Leg discovery. A gold resource of 930,000 ounces has been defined. At Frog's Leg there have been three discrete resource domains recognised - Supergene, Contact, and Quartz Lodes. This paper describes the metallurgical test work undertaken.The selection of the drill core was a joint effort by the MRA Senior Geologist and Mineral Engineering Technical Services (METS) to ensure the samples were representative of the ore body. Optimisation of gold recovery was essential as both the Contact and Quartz Lodes have exceptionally high percentages of free gold as well as significantly higher grades than the typical open pit ores found in Western Australia. The metallurgical scope of work included documenting all of the metallurgical test results, establishing the comminution characteristics, determining the percentage of gravity recoverable gold, evaluating the cyanide leach characteristics and determining the tailings characteristics. These studies were used as the basis of flow sheet design to treat both ores and to discuss the advantages and disadvantages of alternative flowsheets. Investigations also included toll milling options at various plants as well as second hand and transportable plants. Considerable technical effort has been put into ore characterisation by way of test work aimed at managing the process risk at each stage of project development, including mitigation. MRA also carried out detailed mineralogical analysis of the ores."

Jan 1, 2005

By B. Coupal, F. D'Hennezel

Sorption measurements show that peat moss has much stronger affinity for oil than straw, which is currently used. Microscopic studies of peat moss show a highly porous and fibrous material, and this property, associated with the phenomenon of selective absorption, had been used to absorb oil. Laboratory experiments show that peat moss absorbs up to eight times its weight of oil. Field tests have proved that peat moss can be an effective absorbent and can be used on a large scale.

Jan 1, 1972

By Mengsu Hu, Yuan Wang, Jonny Rutqvist

Material interfaces and typical boundary conditions are boundaries influencing the existence, uniqueness and stability of numerical solutions of water flow in heterogeneous media. The Numerical Manifold Method (NMM) with a two-cover-meshing system is an ideal method to handle boundaries, considering its flexibility with no need to adjust mathematical nodes onto boundaries, the meshing efficiency, and its integration precision. In this study, we derive and compare two new approaches for boundary constraints, i.e., a discontinuous approach with Lagrange multiplier and a continuous approach with jump function in the frame of NMM. In the discontinuous Lagrange multiplier method (LMM), Dirichlet boundaries or the material interfaces are regarded as discontinuities which are linked by Lagrange multipliers. In the continuous Jump function method (JFM), the material interfaces are regarded as inner interfaces, where the refraction law is realized by constructing jump terms with discontinuity of hydraulic gradient in its normal direction. Both the continuous and discontinuous approaches make full use of the aforementioned advantages of NMM and are established based on a clear physical meaning of water flow by our energy-work seepage model. The newly derived boundary-constraint approaches were coded into an NMM water flow model and tested for precision and efficiency on different simulation examples. We first tested both LMM and JFM for an idealized heterogeneous model, comparing the numerical results with analytical solutions. Then we tested both approaches with a heterogeneous model and compared the results of hydraulic head and specific discharge. We proved that both approaches are very suitable for material boundaries considering the accurate realization of the boundary constraints and the flexibility with no need for mesh-conforming.

Jan 1, 2015

By Gulshan Kumar Pradhan, Yogendra Pratap Singh, Dhawanm Nikhil

"Potassium (K) is one of the essential elements for the growth of plants and thereby for humans. In fertilizers, potash demand has been steadily increasing at ~3.5% annually. Water soluble potash deposits are rare and highly localized. India is neither present on the world potash production map nor it has adequate potash rich rocks. The K-bearing minerals are recovered either by using conventional underground mining methods or though solution mining methods. India possesses a vast resource of silicate rocks such as glauconitic sandstone and Feldspar. These rocks are basically a group of alumino silicate of potassium, sodium and calcium (K2O%: 5-12, Na2O%: 3-10%, SiO2%: 52-65, Al2O3%: 15-20, Fe2O3%:, 5-7 and MgO%: 2-3.5).The K extraction from silicate rocks has received little attention probably due to the slow release, the locked structure of alumina-silicate minerals, and the unavailability of appropriate economic processes & their know-how. In fact due to this India imports all of its potash demand (about 3.5 million tons per annum) from different countries.In the present work, an attempt has been made to identify the structural and chemical alteration of desired K mineral phase in silicate rock (~K2O%: 10.5, Na2O%: 2%, SiO2%: 55, Al2O3%: 19, Fe2O3%, 5-6, MgO%: 2.5) under different conditions such as acid leaching, thermal treatment and chemical processing. Different treatments are aimed to increase K availability which is related to the modifications in mineralogical composition. The modifications in the feed sample and treated samples are studied through SEM-EDAX, XRD, EPMA and optical microscope. With the combination of treatments, it is possible to extract more than 90% K and the formation of sylvite phase (water soluble) confirms the dissolution of potash values."

Jan 1, 2016

By D. Chakravarty, B. Samanta, D. Ghosh

Autonomous robots are useful for 3D underground mine mapping to avoid human exposure to hazardous spaces. To prepare a precise mine map, a self-navigating robot must navigate an arduous path, avoiding obstacles and sensing the environment. A prototype laboratory-scale robot was built and evaluated through a mock-up in a test mine gallery. It was outfitted with a 2D laser scanner, a stereo camera for obstacle avoidance, and a high-precision, laser-based imaging and digitizing system for collecting 3D point cloud data. Various algorithms were used for scan matching to facilitate simultaneous localization of the robot for mapping.

Jan 1, 2014