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By C. P. Patel

"The Sturgeon Lake Joint Venture volcanic massive sulpide deposit was discovered in 1970. Milling was started by Falconbridge Copper Ltd. at Sturgeon Lake in September 1974. The Sturgeon Lake pit and mill are located 88 kilometers by road northeast of Ignace, Ontario. IgnE1ce is a town of some 2800 people located on the Trans-Canada Highway, 241 kilometers west-northwest of Thunder Bay. The mill is treating an average of 1100 TPD producing separate concentrates of copper, lead and zinc. Initially, difficulties were experienced in achieving accept-able concentrate grades and recoveries but these were eventually overcome. This presentation describes current metallurgical strategy as practiced at the Sturgeon Lake mill.But first, a few words about the type of ore being treated. In geological terms the ore is classified into two main categories. They are the massive sulphides with underlying zones of stringer sulphides as illustrated in Fig. 1. The plan view is shown in Fig. 2. The areas of East-limb and North-limb are as shown. These last two ores have suffered enough alteration to cause problems during treatment. The massive sulphides consist of chalcopyrite, sphalerite, galena, tetrahedrite and small amounts of pyrrhotite among other gangue materials. The stringer ore is comprised of predominantly chalcopyrite intrusions into rhyolite and has lesser amounts of sphalerite and tetrahedrite. At present we are treating a predetermined blend of massive and stringer ores from zones that have been metallurgically tested to ensure compatibility with current treatment procedure in the plant. Ore responding to this treatment is classified as normal ore while the ore proving incompatible is classified as north-limb ore or east-limb ore."

Jan 1, 1980

By Pravin Kumar

Goldcorp Inc.?s Red Lake Mine (RLM) is situated in the Red Lake Mining District, a history rich North Western Ontario mining community. Red Lake Mine formerly known as the Dickenson Mine has experienced various degree and type of bursting since the 1960?s. During the 1960?s burst were common in shrinkage stope box hole pillars. After discovering the High Grade Zone (HGZ) between its 30th and 39th levels, the mine has changed its mining method to mechanized cut and fill with cemented paste fill. The rock mass at RLM is mainly massive basalt-ultramafic and behaves in a manner consistent with massive brittle rock. This paper presents the use of empirical and numerical design techniques. The use of the Span versus RMR graph to determine critical stope spans at RLM and the use of numerical design techniques to determine the stability of the sills and post pillars. Selecting of a sill pillar dimension is illustrated using four different failure criteria?s. The four failure criteria are m & s failure criteria, the Pillar Stability Graph, deviatoric stress ???-?3), and induced stress level criteria ?1 /UCS, which are calibrated to RLM?s ground conditions. A wide range of case histories has been studied ranging from stable to highly burst prone ground conditions in order to calibrate the failure criteria to observed conditions and quantified to local micro seismic system.

May 1, 2002

By Milton C. Graves, Marcos Zentilli

"Gold has been reported from most geological environments in Nova Scotia; however, virtually all production (circa 2,000, 000 troy ounces; circa 60 tonnes) has come from that part of the province to the south of the Glooscap Fault which is underlain by Lower Paleozoic rocks of the Meguma Group. Over fifty concordant sets of quartz-carbonate-arsenopyrite veins have seen production. The host rocks are greenschist-grade equivalents of Cambro-Ordovician flyschoid quartz wackes and shales folded and metamorphosed during the Devonian Acadian Orogeny. The veins were emplaced under conditions of greenschist-grade regional metamorphism and under the same conditions of tectonic stress that later resulted in the regional folds and penetrative, axial-plane slaty cleavage. Rapid filling of hydraulic fractures caused by excess metamorphic pore fluid pressure under Acadian tectonic stress conditions can account for the geometry and paragenesis of these veins.The ultimate source for gold deposits in most greenschist-grade domains remains in doubt, but these domains seem to have had ample gold within them available for mobilization. The work done, to date, on the gold geology of Nova Scotia suggests that regional greenschist metamorphism was an effective mobilizer and a potential concentrator of Au, As, W, Fe and S from these vast reservoirs.In rocks of pre-Acadian age north of the Glooscap Fault, gold occurs as an important accessory in volcanogenic massive sulphide ore, as a minor constituent in other types of basemetal concentrations and in one small concordant group of quartz veins.The post-Acadian metallogenetic domain, which overlies and overprints the two older domains, contains small amounts of gold in many mineralizing environments. Veins, with stibnite and gold, cross-cut crystalline rocks. Disseminated gold is present in basal conglomerates of post-tectonic molasse. Gold has been a by-product of Mississippi Valley-type Pb-Zn-Ba-Sr deposits in Lower Carboniferous sedimentary rocks and has been reported with Pb-Zn-Ba-F in veins which cross-cut Lower Carboniferous and older rocks. Small post-glacial placers have also seen minor production."

Jan 1, 1982

By B. van Beek, T. Goff, P. Gebski, P. Szyplinski, W. L. Ying

"Monitoring the refractory lining integrity is essential to assure the safety of the operators and to determine the remaining campaign life of a furnace. Early detection of refractory lining degradation is essential to avoid sudden furnace failures and prevent unscheduled shutdowns. In the mid-1990s a stress wave propagation technique was developed and since then it has been utilized by Hatch Non-Destructive Testing (NDT) Group to evaluate furnace linings. For the last 17 years the AU-E technique evolved in terms of hardware, software and signal acquisition and interpretation. Most importantly, based on more than a decade of commercial applications, an extensive database of various failure modes, refractory deterioration trends and material properties has been created. This knowledge base is an integral part of AU-E which progressed from a NDT technique towards a comprehensive approach for furnace condition monitoring. All of the improvements introduced over the last several years have greatly improved the accuracy of the measurements. The data analysis process has also become more time efficient making the critical results available to the furnace operators in a more timely manner. Today the AU-E technology is used on a variety of process vessels in non-ferrous, glass, chemical and iron and steel industries.In this paper we are reviewing the available techniques for furnace refractory lining measurement and discussing the pros and cons of each method. The need for continuous improvement and development of new techniques for refractory monitoring is also emphasized. Finally, we are presenting a number of case studies and comparisons between the physical verifications and the AU-E measurements."

Jan 1, 2015

By K. Dinh

The Ground Penetrating Radar (GPR) has been studied for a long time as a non-destructive evaluation (NDE) technology for inspection of concrete structures. Currently, the most widely used technique for interpreting GPR data of concrete bridge decks is the one that based on the amplitudes measured at various interfaces such as asphalt-concrete, top rebar, or slab bottom. The assumption behind this technique is that a sound concrete deck should have the same reflection amplitude at these interfaces while any low number would indicate some sign of deterioration. Unfortunately, this assumption is not completely valid in most cases. As a consequence, the reported test results usually do not reflect real condition of concrete bridge decks in question. The main goal of this paper is therefore twofold: (1) to discuss the limitations of the amplitude analysis method, and (2) to propose a new model that interprets GPR data of concrete bridge decks. The model methodology is based on the comparison of GPR A-scans between two inspections, using the so-called correlation analysis. The results, indicated by the correlation coefficients, are then employed to develop a contour map that estimates different levels of deterioration. The model is then implemented to a case study in order to illustrate its methodology.

Aug 1, 2013

By F. Bélanger, P. A. Fournier

"Modelling and optimization techniques used in the operation of the Detour Lake Mine leach circuit are contrasted to a 1973 review of contemporary techniques used by a major gold producer. The leach circuit at the Detour Lake Mine was modelled using a full factorial Design of Experiment of stirred tank reactor leach tests using circuit feed. Contour plots of extraction were applied in the plant to optimize addition rates of cyanide and the newly-commissioned lead nitrate system. Contour plot sections were used to understand the impact of sulphur in circuit feed at different operating dissolved oxygen concentrations. The 1973 review paper offers insight into industrially-applied modelling and optimization techniques. In particular, a mathematical model of plant data was developed using multilinear stepwise regression analysis. The model was presented using graphical representations available at the time and applied to optimize the rates of cyanide addition. Off-the-shelf software solutions of today allow mineral processors to quickly and easily visualize data, allowing them to re-allocate time and resources spent processing data to generating raw data and extracting actionable information.IntroductionModelling and optimization in mineral processing is the art of reducing reality through judicious use of assumptions to understand a process and leverage this knowledge to engineer practical solutions to metallurgical problems. Data analysis is at the core of this enterprise.While this paper showcases the modelling work done at the Detour Lake Mine (DLM), the primary objective is to pause and reflect on how far the field has progressed since the 1970’s. A snapshot of state-of-the-art gold cyanidation modelling at that time is a review paper of the Anglo American Group’s capabilities (Brittan & van Vuuren, 1973). The objective of this paper is not a play-by-play of the evolution of modelling and optimization since that time. Rather, it is a comparison of the field at two points in time.In 2016, DLM undertook an extensive bench-scale leach circuit modelling program to better understand the impact of cyanide, dissolved oxygen, lead nitrate, grind size, density, and pH on gold cyanidation (Fournier, 2016). Two major capital expenditure projects were anticipated for 2017: improvements to oxygen control and a lead nitrate distribution system. While the lead nitrate system was planned for construction, the design parameters had not yet been selected. Following the development of the model, plant trials were executed to validate aspects of the model and the methodology was expanded to address other plant issues, in particular the effect of talc chlorite and pyrrhotite in leach feed.The variables of the bench-scale study are summarized in Table 1. Dependent variables were varied using a full factorial design of experiment with two repetitions for each test condition, yielding a total of 300 tests. Test order was randomized to eliminate bias from independent variables."

Jan 1, 2018

By David Seaman, J-P Franzidis, Emmy Manlapig

"A new device has been developed to directly measure the bubble loading of particle-bubble aggregates in industrial flotation machines, both mechanical flotation cells as well as flotation column cells. The bubble loading of aggregates allows for in-depth analysis of the operating performance of a flotation machine in terms of both pulp/collection zone and froth zone performance. This paper presents the methodology along with an example showing the excellent reproducibility of the device and an analysis of different operating conditions of the device itself.The device has been used to investigate the froth selectivity of attached particles. Simultaneous measurements were made using a different froth recovery measurement technique in the same flotation cell. A comparison of these techniques shows that in this case, particles are selectively detached from bubbles at or near the pulp-froth interface.INTRODUCTIONA flotation cell can be considered to operate in two distinct phases or zones; namely the pulp or collection phase and the froth phase. The pulp zone is responsible for the formation of hydrophobic particle-bubble aggregates, whilst the froth phase is responsible for the separation of these aggregates from surrounding suspended hydrophobic and hydrophilic particles. Thus, the froth phase is the grade determining phase in flotation. A measurement of the bubble load (the mass of particles attached to air bubbles in units of mass/volume) will enable the analysis of the performance of both the collection zone at creating bubble-particle aggregates and also the froth zone at separating these aggregates from surrounding pulp.A measure of froth zone performance that has been used extensively in flotation research is the Froth Recovery, Rf, of a particular system. Froth recovery is defined as the mass of particles collected in the concentrate launder by true flotation as a fraction of the mass of particles entering the froth phase. The measurement of bubble load allows for this term to be calculated easily, rather than having to go through the laborious task of, for example, changing froth depths to determine this performance criterion (Contini et al., 1988; Vera et al., 1999b; Feteris et al., 1987)."

Jan 1, 2004

By E. G. Kearnery

Introduction It is believed that the present paper will be of some interest, not because of any outstanding features of Renabie milling practice but because Renabie is the first gold mining property in a newly explored area - in Leeson and Rennie townships, Sudbury district, Ontario - to reach the production stage. The Renabie mill was originally designed by the General Engineering Company (Canada), Limited, as a 300-ton plant and went into operation in June, 1947, treating an average of only 128 tons a day for the balance of that year. Toward the end of 1948 the capacity of the plant was expanded to 450 tons a day, and the tonnage treated was gradually increased from the 1947 figure to the point where 420 tons a day was averaged for the first nine months of 1949. Description of Ore In general, the outstanding gangue component of Renabie ore is white quartz, which comprises at least 80 per cent of its total bulk and in some sections considerably more. Virtually all the gold occurs in very finely divided state; only very rarely has free gold coarser than 325 mesh been observed. The ore has a very low sulphide content, ranging from about 0.50 to 1.00 per cent by weight. The gold occurs both free in the gangue and ? locked in sulphides, the proportion of one to the other varying considerably from one orebody to the other. Pyrite is by far the most abundant sulphide, followed by galena, which, however, appears to be entirely absent in some of the orebodies. Minor amounts of pyrrhotite, chalcopyrite, chalcocite, and sphalerite have been noted. The ore appears to be entirely free, or almost so, of minerals containing arsenic, antimony, or molybdenum, and in general it could be described as free milling. The various hindrances to extraction of the gold which have been met with are believed to be due largely to the very finely divided state of the metal and to its intimate association with the sulphides and gangue. The ore contains silver, with the gold-silver ratio about 3:1.

Jan 1, 1950

By George Hope, Brigitte Lacouture

"The Red Dog Mine has increased mill throughput for most years since startup. Although flotation equipment has been added over the last 10 years, the Red Dog metallurgical performance has been restricted by a lack of adequate flotation capacity. Two reduced tonnage trials conducted in 1997 as well as numerous SAG relines have consistently indicated the potential to significantly increase both zinc concentrate recovery and grade with additional flotation capacity. Late in 1999, a new circuit was designed with increased flotation capacity while simplifylng the current circuit, providing for three stages of dilution cleaning, and creating a retreat section. The purpose of the retreat section is to target the more complex particles and allow the chemical environment to be fine tuned for improved iron depression. In total, twentyone (21) Outokumpu OK50 mechanical flotation cells and four (4) 3.66m dia. column cells will be added to the current flotation circuit. The VIP (Value Improvement Program) Mill Optimization project is also addressing thickening, water treatment and power issues and has a total budget of $US105 M. Startup of equipment will be phased in to minimize the impact on current operations and is expected to be complete by the end of Q3-2001.INTRODUCTIONRed Dog Operations started production in November 1989. The mine is located above the arctic circle in northwest Alaska. It is linked by an 80 km road to a port-site facility where the concentrate is stored. Concentrate is shipped to markets throughout the world during the one hundred (100) days of open seas. Typical of sedimentary exhalative deposits, the metallurgy proved to be challenging and coupled with many mechanical shortcomings, the initial few years were very difficult. The start-up issues were slowly resolved and in 1998, a major grinding expansion, the PRI (Production Rate Increase) project, was completed. The project was designed to allow a 40% increase over the 1995 throughput. In 2000 mill throughput was 3,050,000 tonnes to produce a total of 960,000 and 140,000 dry tonnes of zinc and lead concentrates respectively, making Red Dog the largest zinc concentrate producer in the world. To address a shortage of flotation capacity remaining from the PRI grinding expansion, a project designated as the VIP (Value Improvement Program) Mill Optimization project was initiated. The mill optimization project is targeted to produce 1,100,000 tonnes of zinc concentrate at 56% zinc grade and 87% zinc recovery. The project will add twenty-one (21) Outokumpu OK50 (50m3) flotation cells, four (4) 3.66mO column cells and address water treatment, thickening and power generation capacities."

Jan 1, 2002

By W. Chi, R. Regan, R. A. Washington

"In uranium mines, the purification of underground mine air can be accomplished by the removal of dust particles and radon daughters using filters. Full-scale statistically designed experiments with flow rates up to 10,000 cfm have been conducted at Denison Mines Ltd. on mine air filtration with vermiculite as a filter material. Various filtration bed thicknesses were chosen, with different face velocities through each bed thickness. Results on total dust, respirable dust and radon daughter collection efficiencies were analysed statistically. It is shown that these collection efficiencies are directly related to the filter bed thickness. However, the different face velocities seem to affect only the collection of radon daughters. Optimum collection efficiencies for a clean bed of about 30% were found for respirable dust and radon daughters, and about 41>% for total dust, using an 8-in.-thick bed and a face velocity of 500 fpm. Dust build-up on the filter bed during operation led to an increase in collection efficiency, reaching 40 to 60% after two weeks."

Jan 1, 1973

By CIM Mineral Resource, Mineral Reserve Committee

Industrial minerals are generally considered to include non-metallic minerals, mineral products, or materials that provide raw material inputs for the construction, chemical, and manufacturing industries. They are often relatively low-value and bulky materials that are generally used close to where they are produced; however, some raw materials may be transported hundreds of kilometres to manufacturers and customers (ENDM, 2021). They do not include the metallic minerals, mineral fuels, or gemstones, and are used in industries based on their physical and/or chemical properties (Wikipedia, 2021). In contrast to most metallic minerals, a general distinguishing characteristic of the industrial minerals sector is their general low degree of market elasticity in relation to the market prices and product specifications. The estimation of either a Mineral Resource or a Mineral Reserve (MRMR) for an industrial minerals deposit can be affected to a significant degree by a number of factors that are not typically applicable to metallic mineral deposits. These factors can include such considerations as the particular physical and chemical characteristics of the final product, product quality issues, market size and market access. In some cases, such information may be confidential and proprietary. One of the key challenges of the industrial minerals sector is to define a commonly accepted listing of which types of minerals, materials, or mineral deposits can be considered as industrial minerals (Mining Standards Task Force, 1999). Although definitions for what constitutes an industrial mineral can vary in detail, general descriptions can be found in American Geosciences Institute (2021), Fastmarkets IM (2021), Snowden (2019), SME (2021) and Wikipedia (2021). A brief listing of some of the materials and minerals that are generally considered to be industrial minerals is provided in Table 1. For the purposes of this document, all references to industrial minerals include not only the minerals, materials, and mineral deposits themselves, but also the various commercial products that are derived from these sources.

Nov 19, 2023

By Kah Lert

"The Red Mountain porphyry molybdenum deposit is situated in the Big Salmon Range, approximately 80 km east-northeast of Whitehorse, Yukon.Red Mountain is underlain by Paleozoic, argillaceous sedimentary rocks of the Yukon Cataclastic Complex, which have been intruded by a multi-phase mid-Cretaceous stock.Mineraliwtion, quartz stockwork, metal zonation, and an alteration assemblage characteristic of a porphyry molybdenum system have been superimposed on quartz monzonite porphyry and adjacent homfelsed sedimentary rocks. A later, barren and pyritic quartzeye diorite porphyry body and related dikes have dissected the quartz monzonite porphyry, homfelsed sedimentary rocks and associated molybdenite mineralization.Drill-indicated geological reserves of molybdenum mineralization outlined consist of 187 270 000 tonnes grading 0.167% MoS2.IntroductionLocationThe Red Mountain porphyry molybdenum deposit is located at 60°59'N, 133°44'W (NTS 105 C), approximately 80 km east-northeast of Whitehorse, Yukon. The property is situated within the rugged Big Salmon Range, 15 km east of the north-northwest-trending Teslin River. Red Mountain, at an elevation of 1702 m, consists of relatively steep, talus covered slopes with prominent gossanous bluffs marking the southeast flank. Relief on the property is 700 m, with tree-line at an elevation of 1450 m to 1500 m (Fig. 1)."

Jan 1, 1995

By A. Fawcett, B. C. Dyer

Abstract - The basis of the tomographic velocity imaging technique is briefly described and an application of the method to detect and image a cross-section through a chromite pod is presented. Using the chromite application as an example, the relative costs of tomographic data acquisition and processing are compared with those of diamond drilling to obtain similar resolution. A number of different tomographic survey configurations and the potential role of the method in surface and underground exploration are discussed.

Jan 1, 1994

By Son Hye Jin

Abstract ? KHNP is participating in the construction of Nuclear Power Plant both in Korea and UAE. ? We want to improve our construction project management process. ? So we are now developing the process model on nuclear power plant construction management. ? For the effective adoption of this process, we are planning to develop IT system. ? For the first step, we were established the Information Strategy Plan

Aug 1, 2013

By A. Panteleyev, C. S. Ney, R. J. Cathro, A. Sutherland Brown

The general distribution of metal deposits in the Canadian Cordillera can be related to its tectonic evolution. The Canadian Cordillera is naturally divisible into five longitudinal tectonic belts within which rocks are broadly similar in type, age and history. From west to east they are the Insular, Coast Crystalline, Intermontane, Omineca and Eastern Marginal belts. Seven classes of metal deposits in the Canadian Cordillera are defined and their characteristics described. These classes are skarn, porphyry, massive sulphide, stratiform, magmatic, copper in basic lavas, and vein deposits. Maps showing the distribution of medal and metal-group concentrations serve to illustrate the relations in space and time between mineralization and geologic evolution.

Jan 1, 1971

? CONSTRUCTION AND MINING COSTS ARE HIGH IN THE ARCTIC ? VERTICAL KIMBERLITE PIPES WITH HIGH STRIP RATIOS ? SITE SPECIFIC GEOMETRIC CONSTRAINTS ? OPEN PIT FOLLOWED BY UNDERGROUND MINING ? HIGH KIMBERLITE UNIT COSTS TRACK INSTALLED ON PIT WALL ? INTENDED TO REPLACE MAIN HAUL RAMP ? 5 MIN HOIST CYCLE TIME ? KEY ADVANTAGES - REDUCED CYCLE AND STRIPPING RATIO ? TECHNOLOGY EXISTS IN OTHER APPLICATIONS

May 1, 2003

"Canada Centre for Mineral and Energy Technology (CANMET)Natural Resources CanadaMining and Mineral Sciences LaboratoriesA. Address and Contact Information555 Booth StreetOttawa, Ontario, Canada, KIA OGlWebsite: http://www.nrcan.gc.ca/Contact: Philippe Dauphin, Manager, Business DevelopmentTel.: (613) 947-0798Fax: (613) 947-0984E-mail: pdauphin@NRCan.gc.caB. Type and Size of FacilityScope of facilitiesCrushing from minus 4 in. to 10 mesh; grinding - rod, ball, vibration, SAG and impact mills; classification- screening, cycloning, mechanical, hydraulic and dry centrifugal classifiers; froth flotation - automated, column, and frothless flotation; gravity separation- wet and dry; magnetic separation - high gradient, high and low intensity, wet and dry; electrostatic separation; heavy-media separation; calcining; cyanidation; thickening; filtration; drying - fluid bed and freeze drying; pelletizing; microwave.SpecialtiesMineral beneficiation research and development; flotation of sulphides - flowsheet improvement, selectivity, reagent selection; novel flotation techniques; analysis of thiosalts formation; use of mineral processing techniques for recycling.Specialized equipmentHigh gradient magnetic separation, Denver XRF on-stream analyzer, automated flotation cell.Complementary support servicesElectron microprobe; SEM; STEM; X-ray diffraction; particle size analyzer; mineralogical and analytical chemistry services; physical chemistry; hydrometallurgy; pyrometallurgy; engineering and economic evaluation; mechanical shops; technical information services and library integrated with the National Library System of the National Research Council."

Jan 1, 2000

By Terry A. Lee

The grade of mineral resource estimates underpin all major economic considerations of mining prospects. While there are reporting requirements to satisfy when stating a mineral resource estimate, an examination of NI 43-101 style reports suggests that authors believe that there are a number of ways of addressing these requirements. As a reader of these reports, some processes are helpful and others are not so in getting a real appreciation of how realistic is the mineral resource estimate. Critical to the quality of the mineral resource estimate is how realistic is the economic mineral concentration component. In many cases, this parameter is called grade. The industry experiences increased difficulty in achieving realistic grade estimates as the sample grade variability increases. The level of transparency in a mineral resource estimate is very much a function of the competence of the author. An objective presentation of the critical data, such as grade sampling variability can assist a reader in determining if the geology of the mineral concentration is adequately understood and how realistic is mineral resource grade estimate. This paper has considered 75 NI 43-101 style reports released in the past 2 years. The review demonstrates features that were helpful in determining how realistic the mineral resource grade estimate is. If there is insufficient transparency in a report, there is a high probability that the mineral resource grade estimate will not be realistic.

Apr 1, 2005

By L. Li

The rock quality designation (RQD) was initially introduced by Deere (1963) for civil engineering. But, its application has been largely extended to rock mechanics and has become a fundamental parameter in geotechnical engineering (e.g., Hoek & Brown 1980; Milne et al. 1998). The success of this definition is due, in great part, to its simplicity. However, this index includes a number of limitations. Among these limitations, a critical one is associated with the arbitrarily selected threshold value (e.g., Priest & Hudson 1976). Consequently, the RQD value would vary with different threshold length for the same core. Also, using the customarily and universally adopted but very arbitrarily selected threshold value of 10 cm (for NX cores) in the assessment of RQD, the RQD values usually tend to be either high or low in most rock engineering. Some intermediate values (50%) are less frequently encountered (Harrison 1999). The original definition of RQD does not well represent the actual quality of rock masses. In this paper, an improved definition of rock quality designation (RQDc) is given.

May 1, 2009

By Jamie King

This paper describes the use of dynamic scheduling and discrete event control to provide coordinated control of multiple automated vehicles. In the past decade there have been significant advances in the field of robotics for underground mining. As this trend progresses toward a realization of a completely automated underground mine the need for a central control system, capable of providing coordination for multiple vehicles in a semistructured environment, becomes more evident. In the past year general research into multi-robot coordination has been applied to the underground mining scenario and demonstrated in a scaled model underground mine in a laboratory setting. This system shows significant potential to be adopted into a full-scale implementation for mine wide automation.

May 1, 2001