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By R. D. Hossack

"The selection of a site for plant facilities is a function of several factors and has as its objective the maximization of profits, given fixed markets and sources of raw material locations. In practice there are several sites, any one of which or a combination of two or more would be suitable to meet the basic requirements of source of supply of raw material and labour and still fulfill market demands. The model used to select the optimum profit combination utilizes both computer programs and traditional financial analysis techniques. Of the three computer programs used in the mode), one is a linear program and another is a transportation simulator. Basic cost and price data are required. In examining costs, three levels are used: (a) distribution costs of raw material to the plant and finished goods to the market; (b) direct production costs at the plant, such as labour and locally supplied material; and (c) capital and overhead costs at the plant, such as construction costs, taxes, insurance, and federal and provincial cost allowances. The direct costs generally depend on the scale of operations, so that a large plant in one location may have a lower unit cost than two smaller plants. This, of course, must be balanced against distribution costs. In examining profit, it is necessary to think in terms of the price and volume of sales at each of the market locations. Given basic data and relationships, the model can be used to optimally locate production facilities or, alter-natively, optimally structure a transportation network given existing locations of plants and markets. It is dynamic to the extent that it can react to changes in volume, price and cost to optimally locate an additional plant, the expansion of existing plants, the shutting down or cutting back of plants, or the restructuring of distribution networks."

Jan 1, 1970

By M. Epiney, A. Ghahreman, R. Kim1and

"Pre-oxidation and cyanide leaching behavior of gold in the presence of sulfide minerals were reviewed, focused on the effects of oxygen injection in the gold leaching process. Generally, pre-oxidation and gold leaching kinetics from iron sulfide refractory minerals, such as pyrite, pyrrhotite, marcasite, pentlandite and arsenopyrite, can be enhanced with higher dissolved oxygen (DO) concentration. However, most of copper sulfide minerals dissolved well both in water and cyanide solutions, and copper from the minerals consumed DO and cyanide to oxidize and leach. Only in the presence of chalcopyrite, gold leaching was effectively occurred with increasing DO. However, chalcocite and covellite severely retarded gold leaching. Stibnite, an antimony mineral, formed a passive film on the gold surface under any DO conditions, and it slowed gold leaching. This impeding effect can be alleviated by leaching at low pH or adding lead salt. Using oxygen and lead together can make synergistic effect in oxidation of sulfide minerals and can enhance gold extraction. Depending on the mineralogical characteristics of the ore, the optimum DO and lead concentrations can be optimized. However, lead can cause environmental problems, and so its dosage should be minimized or eliminated by substituting it with oxygen injection.INTRODUCTIONGold ores containing sulfide minerals are becoming more significant as high grade gold oxide deposits are continuously becoming difficult to find. In light of this situation, to produce more gold, recovery methods from refractory gold ore containing various sulfide minerals should be investigated. Generally, sulfide minerals have impeding effects on gold leaching: formation of a passive film on the gold surface, high consumption of chemicalssuch as cyanide and oxygenduring leaching, reduction of gold cyanide by sulfide ions, etc. (Senanayake, 2008). Therefore, sulfides must be properly treated for better gold recovery. Pre-oxidation of sulfide minerals by injecting pure oxygen can decrease the impeding effects in gold leaching. Prior to cyanidation, sulfide minerals can be oxidized to metal hydroxide and sulfate form, which consume negligible cyanide in the following cyanidation circuit (Bodnaras et al., 1993). Moreover, gold cyanidation can be enhanced by increasing concentration of the dissolved oxygen (DO). In general, the optimum concentration ratio of [CN-]/[O2] is calculated as 6, but it goes higher in the real system (Marsden &House, 2006), which means that the reaction is typically controlled by DO concentration."

Jan 1, 2017

The Interior Department's Bureau of Mines is the Federal Government's primary research arm in the mineral and fossil-fuel fields. In accordance with its Organic Act of 1910, the Bureau's responsibilities have been reinforced since the passage of the Federal Metal and Nonmetallic Mine Safety Act of 1966, the Federal Coal Mine Health and Safety Act of 1969, and the Mining and Minerals Policy Act of 1970. The 1966 and 1969 acts deal specifically with the development of safe working conditions and a healthful working environment for those engaged in the mining industry, while the third sets the national policy as follows: " ... to foster and encourage private enterprise in (l) the development of economically sound and stable domestic mining, minerals, metal, and mineral reclamation industries; (2) the orderly and economic development of domestic mineral resources, reserves, and reclamation of metals and minerals to help assure satisfaction of industrial security, and environmental needs; (3) mining, mineral, and metallurgical research, including the use and recycling of scrap to promote the wise and efficient use of our natural and reclaimable mineral resources, and (4) the study and development of [ ]

Jan 1, 1972

By A H. Bagherieh, S Mesroghli, H Jorjani, S Chehreh Chelgani

The rare earth elements (REEs) assay and recovery in leaching processes is being determined using expensive analytical methods, ICP-AES, and ICP-MS. This paper presents a neural network model to predict the effects of operational variables on the lanthanum, cerium, yttrium, neodymium recovery in the leaching of apatite concentrate. The effects of leaching times: ten to 40 min, pulp densities: 30 to 50 per cent, acid concentrations: 20 to 60 per cent and agitation rates: 100 to 200 rpm were investigated and optimised on REEs recovery in laboratory at a leaching temperature of 60¦C. The obtained data, on the laboratory optimisation process were used for training and testing of a neural network. A feed-forward artificial neural network with 4-5-5-1 arrangement, was capable of estimating the REEs leaching recovery. Neural network predicted values were in good agreement with the experimental results. The correlations of R = 1 in training stages, and R =  0.971, 0.952, 0.985 and 0.98 in testing stages were results for Ce, Nd, La and Y recovery predictions respectively and that theses values are considerably acceptable. It was shown that the proposed neural network model accurately reproduces all the effects of operation variables, and can be used in the simulation of a REEs leaching plant.

Jan 1, 2008

By Alexandre de Freitas Gomes de Mendonça, Leonardo José Silva de Oliveira, Rodrigo Seara Martins, Rodrigo Madrona Dias

No lingotamento contínuo, o pó fluxante é responsável pela formação de uma escória líquida no molde que formará um filme de escória entre a placa de cobre e a pele solidificada. As principais funções do filme são lubrificar e moderar o fluxo térmico no molde. Em particular, para aços com tendência ao agarramento, objetiva-se uma escória que potencialize uma extração térmica mais intensa em relação às escórias aplicadas em aços com tendência à depressão. O índice de basicidade do pó fluxante é o parâmetro que afeta diretamente a resistência térmica do filme de escória e, por consequência, a espessura da pele solidificada na saída do molde. Com o trabalho investigativo das melhores práticas, reduziu-se o índice de basicidade em 16,8% dos pós fluxantes aplicados em aços ultra baixo carbono obtendo um aumento de até 10,1% no fluxo de calor no molde. Além do aumento na espessura da pele solidificada, esse resultado também influenciou na estabilidade do nível de aço do molde e na qualidade superficial de placa.

Oct 1, 2019

By E. L. Garton

[Analyses of may crude oils produced in Louisiana are included in reports that t have boon published by the Bureau of Mines. The first report, giving, analyse of 6 Louisiana crude oils, was 3 published in 1921 and this was followed a year later by Report of Investigations 2416,4/ giving 7 additional analyses. The eleven most important of these analyses were incorporated in Bulletin 291.5/ issued in 1928 In 1934 analyses of 26 crude oils produced in southern Louisiana were published.6/ The percent report presents analyses of 72 additional samples of crude oil from 45 fields in 23 parishes In Louisiana.]

Jan 1, 1939

By G. E. Johnson

Batch tests of coals and coal-derived materials were made by the Bureau of Mines to determine their effectiveness in removing organic contaminants (COD or chemical oxygen demand, comprising those organic compounds that can be chemically oxidized, and ABS or alkylbenzene sulfonate, common household detergents) from the final effluent of secondary-treated waste waters. The adsorptive capacities of flyashes, coals, including at least one sample of each rank found in this country, pretreated coals, and miscellaneous materials including commercial chars and coke, were determined and compared with that of granular activated carbon. The coals, though not as effective as activated carbon, possess an economic advantage--they are relatively inexpensive, and they can still be burned as fuel without any loss of fuel value after use in waste¬water treatment. A hvcb coal was found to be one of the best, having about one-fourth the capacity of activated carbon for COD, adsorbing about 4 percent of its weight before it became saturated. Several coals contained constituents that added to the COD content of the treated water. Thus knowledge of the performance of the coal is necessary to insure selection of a proper coal as adsorbent.

Jan 1, 1966

By R. J. Allan

"CANADA HAS A GREATER LAKE AREA than any other country. Discountin the Great Lakes, this fresh-water area, mainly in the Canadian Shield, is listed as approximately 300,000 sq. mi. Densities of lakes range up to 7,500 in a 5,294-sq. mi. area of the Shield, southwest of Reindeer Lake, Saskatchewan. Five areas chosen randomly from the Shield (Figure 1) contained sufficient lakes to provide samples at a density of at least one per 10 sq. mi. Regional geochemical surveys in the Appalachian area (Nova Scotia, Boyle et al., 1958; New Brunswick, Boyle et al., 1966) and in the Cordilleran area (Yukon, Gleeson, 1965) of Canada and in many other areas of the world have relied heavily on analyses of stream sediments. These surveys show that sampling of material related to the drainage system reflects the over-all trace element content of the rocks and surficial deposits in the drainage basin. In the Shield, the classic types of dendritic (and other) stream systems found elsewhere in the world are very rare. However, impeded and disorganized stream systems that abound with lakes can provide the exploration geochemist with an ideal composite drainage system sample in the form of lake sediment. This paper attempts to demonstrate the feasibility of, and review the theory and problems involved in, the use of lake sediment as a regional geochemical exploration medium. Most of the references to field examples are taken from a regional survey using lake bottom sediment as the sample medium over 1,500 sq. mi of the Coppermine basalt group and adjacent rocks (Figure 2). During this regional survey, detailed sampling of several lakes was carried out and the results are referred to at appropriate places in the text."

Jan 1, 1971

By R. V. Norris

The great coal strike of 1902, which confined the work at the Short Mountain colliery of the Lykens Valley Coal Com pany almost exclusively to pumping, gave an opportunity to determine with considerable accuracy the cost of pumping the water from these very old, extensive and wet mines. This colliery, which is located in the extreme southwestern end of the anthracite coal-field, has been operated continuously since 1836, and has shipped 7,747,313 tons of coal. This and the Williamstown colliery are the only operations in Dauphin county. The workings cover about 5 miles along the North dip of the extreme westerly end of the basin, with the operating slopes near the center. They extend around the westerly spoon of the basin and back about 31/4 miles easterly on the South dip. The mines are very deep, the present workings ex tending to 711 ft. below sea-level, and about 1600 ft. below the lowest surface-opening. The coal is hoisted principally from the Short Mountain slope, which is 1550 ft. long, with 26 to 68 degrees dip, and from an inside slope, No. 4, 800 ft. long, with 52 to 72 degrees dip. The ordinary capacity of the colliery is about 1000 tons per day, and the average output for the years 1897 to 1901, in clusive, was 297,000 tons per year. The seams worked are the lowest Red Ash measures, being, respectively, Nos. I, II and III of the coal-bed series, but locally called the " Little Lykens," " Lykens," and " Whites." On the accompanying plan the Lykens seam is shown in full and the Whites in dotted lines. The pumping-plant is divided into four lifts, the pumps being located as shown in the section, Fig. 1, and the plan, Fig. 2.

Jan 1, 1904

By D. M. Hausen

The term "auriferous pyrite" relates to an association of gold with pyrite in a variety of textural forms that affect metallurgical treatment. Extraction of the gold depends not only on the grain size and distribution of the gold in the pyrite, but also on the crystal size and surface area of the pyrite. Occlusions of medium to coarse gold may be liberated by moderately fine grinding. The amenability of finely dispersed (submicroscopic) gold depends in part on the activity of the pyrite surface for oxidation. Two types of auriferous pyrite at Carlin, Nevada, have been examined by optical microscopy and SEM methods before and after aqueous oxidation test work to show how differences in morphological features can affect rates of oxidation and amenability to gold extractions by methods of chlorination and low temperature oxidation.

Jan 1, 1981

By T. Holmes, S. Davison

"A surge bin at Agrium’s Vanscoy potash operations has been plagued with flow, wear, and corrosion issues since being built in 1967. The culprits? The bin’s carbon-steel construction, geometry, and the resultant funnel-flow pattern are the root causes. An investigation and cost analysis indicated that hopper redesign and retrofit would increase production and reduce maintenance and capital costs. The retrofitted bin provides safer, more reliable operation and has a much longer predicted working life. Using this example, the authors describe bulk-solids-flow theory and highlight the importance of customizing bulk-material-handling-system design using appropriate flow properties to improve reliability, safety, and cost effectiveness.RÉSUMÉ Depuis sa construction en 1967, un réservoir intermédiaire de l’exploitation de potasse Vanscoy d’Agrium connaît des problèmes de débit, d’usure et de corrosion. Les responsables ? La construction en acier ordinaire du réservoir, sa géométrie et la structure de débit en résultant au niveau de la carotte en sont les causes fondamentales. Une étude et une analyse des coûts indiquaient que la restructuration et la rénovation de la trémie permettraient d’augmenter la production et de réduire les coûts d’entretien et en capital. Un réservoir rénové permet de renforcer la sécurité ainsi que la fiabilité de l’exploitation, et sa durée d’activité prévue en est augmentée. En se fondant sur cet exemple, les auteurs de l’article décrivent la théorie du débit de matières solides en vrac et insistent sur l’importance de personnaliser la conception du système de manutention des matériaux en vrac à l’aide de propriétés rhéologiques adaptées afin d’améliorer la fiabilité, la sûreté et la rentabilité.INTRODUCTIONIn early 2013, Agrium’s Vanscoy Potash Operations (VPO) engaged Jenike & Johanson Ltd. (J&J) to provide testing, consulting, and structural engineering services related to proposed modifications to the 270 t special standard product surge bin, which Agrium planned to undertake during a two-week shutdown in August 2013. The bin, which had been plagued with flow, wear, and corrosion issues for its entire working life, was essential for the continuous operation of two of VPO’s compaction plants and for efficient dispatching to loadout. The bin often experienced product hang-ups, clumping on the walls, and plugging at the hopper outlet. Two recent unscheduled mill shutdowns had been partially attributed to flow issues in the bin due to clumping and product plugging up at the screws. These problems increased maintenance costs, limited production capacity, and degraded product quality. Holes and paper-thin sections in the bin walls discovered during a 2013 inspection revealed the potential for major hot material leaks or even structural failure. Either issue would stop plant operations until the bin could be repaired or bypassed. Clearly, the bin cone had reached the end of its life and required replacement."

Jan 1, 2018

By John C. Machisak

Employment and related injury experience of the coking industry in the United States for 1957 contained in this publication is summarized under three general sections: (A) General injury experience: Tables 1 to 9: Current and comparable statistics on operating data, number, frequency, and degree of severity of injuries and major accident agencies involved in the cause of Injuries. Data are presented for the industry as a whole, for each type of oven, and for the States in which coke was produced.

Jan 1, 1959

By A. B. Bowman

The 1963 Jackling Award lecturer describes the founding of Banner Mining Co. and its trials and tribulations before becoming an established firm. Such aspects as geological description of Banner mining areas, history of exploration and production, areas of present interest to the company and research work conducted by the company are included. Several years ago a wealthy Chinese business friend of mine purchased an interest in a proposed oil well to be drilled a great distance from his home. A few months later it came in as a producer and proved to be a huge success and materially added to his resources. I asked him why a man of his wealth should be so lucky in a venture outside his sphere of knowledge when most people of modest means never seemed to get ahead. His answer was, "Fat Hoy takes a chance." Even though this was his answer, I knew from my association with him that there were other tempering considerations which Mr. Hoy applied before making up his mind to enter any transaction. First, he was a cautious individual. He was also a great believer in details and insisted on knowing everything possible about a situation, and finally, he was what we call a very solid individual with good basic instincts and judgment. This philosophy of Mr. Hoy may be applied to most any business but especially to those engaged in a search for natural resources such as mining where great risks are involved. This article concerns events in the history and growth of Banner Mining Co., with which I have been associated for 27 years in capacities from mine surveyor to vice president. Mr. Hoy's philosophy has played a significant role in the exploration projects of this company over the years, but what is more important, the officers, directors, and controlling interests in Banner have been aggressive in their search for ore reserves. THE BIRTH OF BANNER Banner Mining Company was incorporated in September 1935 by a group of Oklahoma and Texas oil men for the purpose of exploring and developing the Bonney-Manilla mines at Lordsburg, N.M. These properties had a history of intermittent production since the first ore discoveries as far back as 1870. Most of the production from the district has come from four mines, namely, the Eighty-Five, the Atwood, the Bonney-Manilla, and the Misers Chest. The last two are now owned by Banner Mining. The Eighty-Five mine operated between 1885 and 1931, and production totalled 1,494,287 tons averaging 0.11 oz of gold per ton, 1.23 oz of silver per ton, and 2.80% copper. The vein extended for a distance of about 3000 ft northeast and was mined to a depth of 1650 ft. The Atwood mine, adjoining the Eighty-Five mine, to date has been of lesser importance as a producer, but it has been operating for several years producing high silica flux ores for a smelter. Production totalled 352,828 tons up to January 1, 1962 From the Bonney-Manilla and Misers Chest mines, owned by Banner, production through 1961 totalled 2,006,343 tons with an average grade as mined of 0.0192 oz of gold per ton, 0.760 oz of silver per ton and 2.63% copper. Banner built a 150-tpd flotation mill in 1936 after almost a year of development on the 600 level of the Bonney mine. After less than one year's operation, it became apparent that the 150-tpd rate was not sufficient to make a reasonable profit due to the marginal grade ores. The low tenor of the ore, mainly chalco-pyrite in a highly siliceous gangue, made mandatory the close control of costs in order to make ends meet. A 300-tpd unit was added to the mill in 1937, and it is still the operating unit today. The clean sulfides presented no problems in milling. A metallurgist doing research on it at the time stated that the copper minerals seemed to have a built-in desire to float. Mill recovery of copper throughout the 27 years of operation has averaged 96.23%. A PERIOD OF FORCED GROWTH World War II brought many hardships to Banner. Labor and supply shortages caused drastic curtailment in development work. Rapidly rising costs far outdistanced any relief from pegged prices which we received from Government agencies. Finally, a branch of the Government asked us to stop all devel-

Jan 1, 1963

Hydraulic mining shovels can be successively used at open-pit mining operation in severe climatic zone with air temperature interval from -700C to +450C typical for some northern region of the world particularly of Russia, Canada and Sweden, if they would be equipped by special preheating facilities for their diesel engine, water, hydraulic oil and lubrication systems. All shovels manufactured by the Komatsu Mining Germany GmbH for operation at ambient air temperatures down to -50¦C have cast and forged structural design elements, bolted connections made of special steel grades, electric cables with special insulation, flexible high-pressure hoses manufactured by ICE-Champion with connectors made of special steel grades.Generally at the temperatures below -25¦C the ordinary machine has to be stopped, the attachment should be placed in the parking position, the generator should be switched on, or the external electrical power supply connected, for the preheating equipment. For rapid start-up in winter after a long shutdown of a hydraulic shovel, there is a procedure for preheating of the main systems. It is applied for the following systems: engine cooling system, engine oil, hydraulic oil, pumps and drive motors of the propel gears, electric cabinets, machinery house, especially near the ventilation inlets and outlets.Start-up of the main drive engine is permitted at a hydraulic oil temperature of -20¦C, when it has a viscosity of 1000 cSt. In this case the rotation speed of the diesel engine crankshaft is lower by two times than the nominal value and this is the most favourable condition of start-up of the engine and hydraulic pumps and motors, which work with half of their rated rotation speed until the hydraulic oil reaches a viscosity from 100 to 10 cSt. After that the hydraulic system and the entire shovel begin to operate under normal conditions.

Dec 6, 2010

By Lulie H. Crump

Salient information on reserves, production, and consumption of fuels and energy by State are summarized in this Bureau of Mines publication. The data are broken down by fossil fuels (coal, petroleum, and natural gas) and hydropower and nuclear for the major consuming sectors: Household-Commercial, Industrial, Transportation, Electric Power and Miscellaneous. In addition, total energy consumption in the Nation in 1972 is compared with consumption in 1971 and 1973 (preliminary data).

Jan 1, 1974

By M. C. Manderson

The sharp drop in world phosphate demand that took place in 1975 due to temporarily high prices, now seems to be reversing itself. And prices for both phosphate rock and phosphate fertilizers, which declined dramatically from their 1975 highs, now appear to be bottoming out. This recent price weakness has delayed new mining ventures that had been planned for completion by around 1980. While there is ample capacity to supply near-term rock needs, the stage seems to be emerging for a better supply-demand and price environment in the late 1970's and early 1980's.

Jan 1, 1979

By H. Askari-Nasab, S. Upadhyay, A. Moradi-Afrapoli

Material handling in surface mines accounts for around 50% of the operational cost. Optimum truck dispatching plays a critical role in the reduction of this operational cost in truck and shovel surface mines. Researchers in this field have presented several mathematical models to solve the truck dispatching problem optimally. However, a critical survey of the literature has shown that three significant drawbacks exist in the available truck dispatching models. The published models underestimate the importance of the interaction between truck fleet, shovel fleet, and the processing plants. They also disregard goals set by strategic-level plans. Moreover, none of the available models account for the uncertainty associated with the input parameters. In this paper we present a new truck dispatching model that covers all of these drawbacks, using a fuzzy linear programming method. The performance of the developed model was evaluated through implementatin in an active surface mining operation. The results show a significant improvement in production and fleet utilization.

Sep 1, 2021

By H. R. Manouchehri

The importance of the grinding environment and its effect on sulphide minerals flotation behavior has been known for many years. The grinding environment may play a role in controlling fine and coarse particle flotation along with dissociation of different chemical species in grinding environment. Dissociation of different chemical species and ions within the process water may result from changing the grinding environment. The mining and mineral processing industry undertakes activities that may impact on water resources. These include use and storage of chemical storm-water management, process water management, mine dewatering and management of tailings. In mineral flotation understanding and controlling water quality is paramount important not only because of its effect on flotation but also with respect to control the quality of the water which is released to the environment. Releasing of different anionic and/or cationic chemical species in the process water results from the interactions among different mineral within the ore, process water, and the milling environment. In fact grinding mill acts as an electrochemical reactor which affects the flotation performances of different value minerals as well as the quality of the tailing products. An increasing in antimony content in process/discharge water at Boliden?s Tara processing plant in Ireland to above limitation level was reported in April 2010 which needed to be controlled. An increase up to 6 times of the permitted level was reported which needed an immediate action to control due to environmental considerations. Therefore attempts were made to detect why this higher amount of Sb is released and how to control and minimize its release to the process/reclaim water. This paper discusses how/why Sb content in process/reclaim water was increased by changing the mill electrochemistry and the strategies were taken into considerations to control it. Different strategies, including electrochemical controlling of the milling section, Fenton process, using Bauxsol in treating the process water, etc., have been considered and tested which are described herein. All strategies taken into consideration for solving the problem were successful which indicated good understanding of the issue and good decision making. Furthermore, for each solution the capital and operational costs were roughly estimated. Accordingly, the Sb content in process/discharge water was controlled to a value lower than allowed limitation, i.e., 1 ppm. Keywords: antimony, water contamination, mill electrochemistry, ag milling, grinding media, eh-ph, sulfide minerals, fenton process, bauxsol, lime addition

Sep 1, 2012

A preliminary program dated April 25, 1974 was prepared for Development Engineering, Inc. (D.E.I.) on research and development, laboratory; field and other engineering studies for the disposal of retorted oil shale. This program was revised and published as a final document dated December 17, 1974. The document included a discussion on the peculiarity of retorted shale materials to be investigated and a discussion of the various laboratory and field tests which would need to be conducted to define their physical and chemical properties. The proposed research and development program was divided into eight work phases as follows: I - Program Development II - Exploratory Laboratory tests on old U.S.B.M., retored shale III - Laboratory tests on Pilot Plant retorted shale IV - Laboratory tests on retorted shale from Semi-Works Plant, and field and test plots and ponds. V - Field compaction tests

Jan 1, 1975

By D. Holz

In this work we present a novel level set-based model for the real-time simulation of soil deformations. A level set defined by a signed distance function and sampled in a regular 3D grid represents and tracks the soil volume under deformation. Moving away from classical 2.5D heightfield representations of soil to a full 3D volume representation allows for improved tracking of cutting tool operations and the simulation of near-vertical or vertical soil faces. The proposed level set representation furthermore provides a versatile mathematical platform for modeling additional effects such as soil slip, and does not suffer from the sampling limitations of commonly used heightfields. Cutting forces applied to the tool are simulated via a formulation based on the Fundamental Equation of Earthmoving, modified to support inclined soil surfaces and transient states of tool motion. Discretisation of this 2D cutting force model with respect to the tool surface allows capturing the effects of irregular 3D terrain shapes on blades and buckets. The surcharge created during cutting operations is tracked in the form of particles and included in the soil failure force computation. We make use of an adaptive, hybrid level set-based and particle-based soil deformation scheme, which allows the soil deformation to be simulated in real-time.

Aug 1, 2013