Search Documents

By Gregg E. Korbin, Patrick Hamilton

INTRODUCTION The Balsam Meadow Project, presently under construction for the Southern California Edison Company, is located approximately 55 miles northeast of Fresno, in the Sierra Nevada Mountains (Fig. 1). Major components of this project include an underground powerhouse for a 200 MW unit and a high pressure power tunnel/shaft. Site exploration [ ]

Jan 1, 1987

By Carlos Andrade

An engineering endeavor involves the creation of an expansive, environmentally conscious reinforced sloped MSE wall system. The objective is to enlarge a flat mining work area. Situated in southern Arizona, this mine is dedicated to extracting essential resources such as Manganese, zinc, silver, and lead, crucial for advancing clean and renewable energy initiatives. The project necessitates the implementation of a Mechanically Stabilized Earth retention system. This system aims to both expand the mine’s working area and facilitate access to underground tunnels. The expansion pad must be robust enough to endure the substantial loads exerted by heavy mining machinery. The wall’s reinforcement components are strategically designed to counteract the challenges posed by aggressive soil conditions with low resistivity. Furthermore, they must be resilient against potential damage during installation. The system’s ease of transportation is crucial due to challenging access conditions, and its design must allow for efficient drainage. A significant consideration is the integration of a face system that fosters vegetation growth and seamlessly merges with the existing flora of the area. In addition, plans include the construction of an access road downslope from the wall. The chosen solution involves a reinforced sloped system with a 70-degree incline. The wall’s surface is adorned with an erosion control mat, intended to promote the proliferation of vegetation. For added durability, the wire basket units are equipped with galvanized wire featuring a polymer coating. High tensile strip bonded geogrids, featuring a robust polyester core, provide essential reinforcement. The completed wall is an impressive feat, spanning 1500 feet in length and soaring to a height of 45 feet. It stands as a testament to innovative engineering in harmony with environmental and functional considerations.

Feb 1, 2024

By G. X. Wang, J. O. Marsden, M. C. Fuerstenau

Zinc cementation of high-temperature carbon eluates is now used extensively in gold processing to replace electrowinning. Under these conditions, zinc consumption is high. In this paper, zinc solubility is press rated us functions of temperature, cyanide concentration and pH in the presence of gold, silver and mercury cyanides (both individually and in combined solutions). Based on the experimental results, cementation of these metals is characterized and discussed. The importance of cyanide concentration in cementation efficiency and the effect of mercury and its co-precipitation onto zinc are also discussed.

Jan 1, 1997

By Iwao Iwasaki

Since the oil crises in the 1970s, the mining industry in the developed countries has faced strong competition from developing countries. In order for the North American iron ore industry to remain competitive with high-grade overseas sources, research on low-cost beneficiation methods that ensure high-quality and uniform-quality products must be maintained in order to prepare for ever-tightening specifications on iron making raw materials for blast furnaces and also for the future iron- and steelmaking processes that can directly utilize finely ground concentrates.

Jan 1, 1999

By M. A. Cristovici

The use of surfactants as wetting agents to suppress sulfide ore dust has been investigated. Numerous surfactants were examined to determine their characteristics and to investigate their ability to improve the wetting of the sulfide ore dust. However, the surfactants selected as suitable dust suppressors proved to have a negative effect on the flotation of ore contaminated with such reagents. A method was developed to eliminate the detrimental influence of dust-suppressing surfactants. It consisted of surfactant adsorption on activated carbon and separation of loaded carbon prior to flotation. The technique is simple and requires minimal changes in the plant flowsheet.

Jan 1, 1992

By Scott Brien, O&apos

Cyclones have become standard unit operations in mineral processing for both dewatering mineral slurries and for making separations at given particle sizes. Conventional cyclones are normally able to make moderately sharp cuts. However, the limited ability to control water flow out of the apex means that cyclones have difficulty handling fluctuations in feed. Underflow-regulated cyclones are cyclones with a rubber boot attached to the underflow. This boot acts as a non-return valve and restricts flow out of the apex of a cyclone. Normally, this type of restriction on a cyclone causes severe difficulties in cyclone operation. However, by adding a siphon arm to the overflow, water flow can be controlled. The siphon arm creates a vacuum that reduces or eliminates the air core, permitting better control of the ratio of water flow out of the overflow and underflow. A Linatex-developed underflow-regulated cyclone was compared to a conventional cyclone for its ability to dewater a sand slurry. The underflow-regulated cyclone produced slurries with solids contents as high as 80% in the underflow. Conventional cyclones produced lower solids content in the underflow under similar conditions.

Jan 1, 1997

By Andy Cole, Stanley Bunk, Steve Dunn, Thom McCord

In 1994, Goldstrike initiated a research program to investigate processing options for treating what was then the small amount of carbonaceous ore identified in the reserves. The focus of the research was on developing a process which incorporated the autoclave technology already utilized at Goldstrike. Over the next two years, Barrick pursued the development of an ammonium thiosulfate leaching (ATS) process. During the period in which the ATS research was being conducted the amount of carbonaceous ore in Goldstrike's reserves increased substantially and continued growth was projected. By 1996, significant advancement was made on the development of the ATS process. The work culminated in a series of integrated pilot plant runs incorporating autoclaving, ATS leaching, resin in leach, stripping and cementation. Several questions about the process chemistry remained unanswered, preventing commercial development. Barrick was committed to producing gold from the carbonaceous ore reserves by 2000. A due diligence review of carbonaceous ore processing options was initiated during the second half of 1996. Processes considered in addition to ATS were fine grinding/autoclaving, as practiced then by Santa Fe, and whole ore roasting as practiced by Independence Mining and Newmont. The objective by year-end was to recommend the most robust and economical process for Goldstrike's carbonaceous resources. In the fall of 1996, a detailed review of roasting as a processing alternative for Goldstrike was initiated. Throughout the ATS development period, whole ore roasting was used as the benchmark. All the ATS metallurgical and financial results were compared to roasting bench top test results. It was clear this data was too imprecise for use in due diligence study, a more definitive recovery value was needed to complete the carbonaceous ore review. The primary goal of the roasting review was to conduct pilot plant roast tests to gain a more thorough understanding of Goldstrike's carbonaceous ore's response to roasting and its effects on gold recovery. Using the test facility at Hazen Research, four pilot plant campaigns were conducted to determine optimum roast conditions and further define metallurgical design parameters. Conventional two-stage fluid bed technology based on Freeport­McMoRan's roasting patent was the specific process basis for testing. The ore's response to roasting exceeded expectations. In January 1997, a preliminary economic evaluation comparing ATS and roasting was presented, and the outcome was approval to proceed with a roasting prefeasibility study. In July 1997, approval for Goldstrike's Roaster facility was received and basic engineering started immediately thereafter. Detailed engineering _began in January 1998 and plant construction commenced in October 1998,t, Goldstrike's Roaster facility is designed to treat 12,000 tpd of a refractory gold ore, which contains both pyrite and organic carbon. Circuits in the facility include primary and secondary crushing, dry grinding, roasting, gas handling, neutralization, thickening and standard CIL. Gold desorbtion and recovery is carried out at Goldstrike's existing refinery. Plant start-up of the first dry grinding and roasting train is scheduled for March 2000, with the second train coming online in May 2000.

Jan 1, 1999

By H. Douglas Dahl

In order to provide a reference framework for discussing the applicability of drilling technology to shaft construction in coal mining ventures, it is meaningful to review the history and nature of United States coal mines relative to shafting. Coal mining in the United States is characterized by shallow depths relative to most of the coal mining world. While the trend is toward deeper and deeper mines, many new mines have shaft depth less than 800 feet, and a large number of operating mines are drift or outcrop mines utilizing shafts for ventilation and portals. In the past, shafts of 200-300 feet have been commonly constructed. The use of conventionally sunk shafts at present and in the past is due in part to the shallow shaft length required, favoring conventionally sunk shafts. Another factor is that large shafts are required for multipurpose and production shafts. A third has been the practice of utilizing shaft construction contractors who had been until recently very competitive with raise drilled shafts at shallow to moderate depths. Recently, however, the costs of conventionally sunk shafts have skyrocketed. Too, more shafts are being required. Several factors are responsible among which are: (1) The increasing depth of shaft required for new mines and for shafts in advance of old mines. This significantly affects unit costs, e.g. $/yd3,of conventionally sunk shafts. Moreover, more gas is encountered in the shaft sinking operation.

Jan 1, 1976

By Karl A. Smith, Roger T. Johnson, David W. Johnson

Conflicts are common in the mining industry. Engineers are accustomed to addressing issues such as land use, air and water pollution, and health and safety. Although conflicts of interest are important in the industry, they do not have the impact on organizational decision making that controversy does. Controversy is a type of conflict, probably the most important type, for effective decision making and competent problem solving. It exists when one person's ideas, information, preference, choices, conclusions, theories, opinions, or perspectives are incompatible with another's and the two seek to reach an agreement (Johnson and Johnson, 1979). Interpersonal and intergroup controversy is prevalent in the day-to-day functioning of organizations. If constructively managed, this type of controversy has important implications for effective decision making and problem solving. Too few organizational members accept controversy, and almost none attempt to stimulate it. This is because too few of them understand controversy well enough to accept and use it effectively. Most organizational personnel lack the interpersonal skills needed to stimulate controversy and manage it effectively. Discussion of conflicting ideas may not be common in problem solving situations due to the fear and anxiety most people feel in conflict situations. Traditionally, organizations suppressed conflict. They believed it was avoidable, caused by management errors. Optimal organizational performance required its removal. Conflict, though, is inevitable. And optimal organizational performance requires a moderate level of conflict. Management should manage the level of conflict and its resolution, for optimal performance. The current view stresses the importance of controversy for learning. Confronting a person with a different point of view stimulates that person to gather more information to elaborate, justify, or provide rationale for their position. Controversy: Process and Outcomes The decision making process begins with participants categorizing and organizing current information and experiences so that a conclusion is derived. When participants present their conclusions to another group and realize their conclusions are being challenged, a state of internal conceptual conflict or uncertainty ensues. This uncertainty motivates the challenged group to actively search for more information, experiences, and a more adequate cognitive perspective and reasoning process to resolve the uncertainty. Participants will adapt their cognitive perspective and reasoning through understanding the perspective and reasoning of others to derive a new or reorganized conclusion. This process may be repeated several times before a decision is reached. The active search for additional information on the alternatives is also promoted, along with greater mastery and retention of information and a more accurate understanding of opposing viewpoints (perspective taking). Of the many positive outcomes of the use of controversy, the effect on higher level cognitive reasoning and processing is especially important in engineering decision making. Research has been done on expert-novice difference in medical diagnoses, physics problem solving, and geological exploration. It shows that preparation for verbal interaction and the actual verbal interaction with peers with differing view-points promotes the development of expertise. Constructive Controversy Conditions Some controversies among decision makers concerning their preferred solutions to a problem can be beneficial. But sometimes they are not. As with all types of conflict, the potential for either constructive or destructive outcomes is present. Whether the consequences are positive or negative depends on the controversy and the way it is managed. The conditions and procedures of controversy management that determine the outcome include: the goal structure within which the controversy occurs; the degree of heterogeneity of decision makers; the amount of relevant information distributed among decision makers; the ability of decision makers to disagree with each other without creating defensiveness; and the perspectivetaking skills of the decision makers. Goal structure: Two possible contexts for controversy are cooperative and competitive. A

Jan 3, 1985

By M. W. Chanda

This paper presents the development of a rock-creep measuring apparatus using air as the initial pressure source. Servo-controlled machines can and have been used for time-dependent property tests. However, the long-term nature of some tests makes essential the complete independence of stress-maintaining equipment from main power sources or continuously running hydraulic pumps. The main objective of this paper is the development of a creep testing machine that is free from interference arising through power supply interruptions or mechanical maintenance normally associated with many compression testing machines. To achieve this, a compressed-air power source was used to drive a compression ram. A few trial results obtained and analyzed using the transient creep law are in reasonable agreement with the general creep law.

Jan 1, 1993

By Shaoxian Song, Shouci Lu, Jingyon Gou, Pan Yiuwen

The calculated potential energies of interaction between hydrophobic particle of three minerals (rhodochrosite, quartz and talc) and air bubble show that the energy of hydrophobic interaction is the dominant factor for their attachment. An attachment rate equation, integrating particle -bubble collision and adhesion by introducing a "capture efficiency", has been put forward. It was found that the hydrophobic particle-bubble aggregates can not be disconnected in the bulk zone of flotation cell, whereas in the impeller zone the breakup may occur, particularly for the coarser particles captured by bubble. Finally, the flotation rate constant was estimated theoretically and verified by experiments.

Jan 1, 1995

By J. S. Anderson

Size reduction models of cone and impact crushers have been developed using Whiten's generic computational structure for the description of crushers. They incorporate a laboratory single particle breakage test and the t-family of curves to describe the breakage behaviour of the feed ore. A quantitative model of 7-foot cone crushers has been developed, based on surveys of Svedala (Kobe) and Nordberg machines. Survey data on a Canica vertical shaft impact machine have been used to validate the impact crusher model. Given the crusher operating conditions, such as tonnage, feed size, set and liner condition, or rotor speed and radius, plus breakage information on the feed, the models provide good predictions of product size distribution, and appear to be robust over a wide range of conditions. They are incorporated in commercially available computer simulation packages.

Jan 1, 1998

By J. A. Herbst, Z. Rogovin, Lo. Y. C., K. Rajamani

Knowledge of the amount of time material spends in a continuous mill in a closed grinding circuit is essential for circuit performance analysis and scale-up design. A convenient method for acquiring this information involves the use of pulse tracers in residence time distribution (RTD) experiments. In typical grinding circuit experiments, RTD measurements are done by injecting a pulse tracer into the mill inlet and detecting it in the circuit exit. In this article, an easy mathematical method for calculating mean residence time and the degree of mixing of material in a mill present in a closed grinding circuit is developed. There are no restrictions on the location of the tracer injection or detection points with this method. Any convenient location in the circuit can be chosen without affecting the residence time distribution measured. The analysis of impulse response data obtained from several commercial grinding circuits using this method is presented.

Jan 1, 1988

By R. L. Loofbourow

In addition, dewatering is seldom complete because of aquifer irregularities and an operator's natural reluctance to start a costly study program, provision of wells, and pumping long before mining begins. In some cases, water pumped from the mine is used in treatment. This use is suggested as a way to minimize effluent effects. The true objective of water supply, however, is to provide water of satisfactory quality at the rate needed and at the least cost. Pumping to permit efficient mining isn't likely to coincide strictly with that objective during much of the mine life. The history of mining is replete with efforts, some highly ingenious, to control mine water. Methods that might be used to tackle the challenge Operators of wet mines are faced with both obvious pumping costs and some unquantified water costs. It is possible to reduce both types of costs, generally by reducing inflow to the mine area-and a surprising number of methods have been used to do this. Both the obvious and unquantified costs at a wet mine are now multiplied by: •Increasing costs of power, labor, equipment, and supplies; •Work at greater depth and, in some cases, in wetter ground; •Increasing use of hydraulic fill; and •Increasing zeal in protection of surface and groundwater quality. There are many easily overlooked ways in which mine water may add to hazards and costs (Loofbourow, 1973). As to their importance, consider these examples: •Increased maintenance of equipment, tires, roads, and ditches; •Increased difficulty in supplying proper ventilation; •Increased hazards from ice and use of electric power; • Loss of friable ore minerals and fines stuck on conveyances and in chutes; •Need to use more expensive methods and explosives; and •Decrease productivity of equipment and personnel. Expressed as cost per unit of ore produced, these unquantified costs can be high. Ideally, advanced dewatering should eliminate most of them. Advanced dewatering is a highly effective water control method, but it isn't problem free. Mines in ideal ground for advanced dewatering are most unusual. To be effective, water must be pumped at a comparatively high rate for a period longer than the life of the mine, from below mining depth. Effects on both groundwater and surface water are likely to be drastic. of increasing mine water costs are listed in the accompanying table. Ten groups of possible methods are cited. Most have been demonstrated in mining; two are known from industries other than mining.

Jan 12, 1980

By David A. Lindsey

The world-famous beryllium deposits at Spor Mountain, northwest of Delta, Utah, are the principal resource of beryllium in the United States. Beryllium metal, beryllium-metal alloys, and beryllium oxide ceramics have a long history of specialty applications. Beryllium is used in X-ray windows, nuclear reactors: and a wide variety of industrial and electronic products. The Spor Mountain deposits are located on the western rim of the Thomas caldera, one of at least three volcanic depressions that subsided during voluminous eruption of rhyolitic ash-flow tuff in early Oligocene time. Beginning in early Miocene time, the caldera rim and its volcanic fill were cut extensively by basin-and-range faults. Basin-and-range faulting was accompanied by local eruption of high-silica rhyolite. High-silica topaz rhyolites at Spor Mountain (21 Ma) and Topaz Mountain (6 to 7 Ma) are especially rich in fluorine and lithophile trace elements such as beryllium. Topaz rhyolite of the Miocene Spor Mountain Formation, or its magma was the source of the Spor Mountain beryllium deposits. At Spor Mountain, deposits of beryllium, as submicroscopic bertrandite, Be4Si207(OH)2, occur in rhyolite tuff beneath flows and domes of topaz rhyolite. The beryllium deposits also contain minor disseminated fluorite, lithium, uranium, and anomalous traces of other lithophile elements. The host tuff, originally composed of glass, zeolite, and abundant clasts of carbonate rock, has been altered to clay and potassium feldspar. Fluorite, quartz, and opal replaced carbonate clasts in the tuff. Beryllium was deposited with fluorite in altered clasts and in the matrix of altered tuff. Fluorspar and uranium deposits are spatially and genetically associated with the beryllium deposits at Spor Mountain. Fluorspar deposits at Spor Mountain occur mostly in breccia pipes. Some fluorspar pipes contain uranium, thought to be dispersed in the structure of fluorite. Secondary uranium minerals are dispersed throughout the tuff that hosts beryllium deposits and comprise lenses of ore-grade uranium at the Yellow Chief mine.

Jan 1, 2001

By G. E. Bandelis

In this paper, solid bed erosion processes and the mechanisms involved when a two-phase liquid-solid mixture flows over a bed of solids in a horizontal annulus are analyzed. There are few such studies available with some authors arguing that the flow rate for erosion is always less than the flow rate for the suspension of solid particles thus necessitating further study and analysis of such phenomena. Tests were run to determine the mechanism of erosion and the erosion velocities of the solid bed formed in a concentric annulus for three flu-ids, water, a low concentration water solution of Carboxyl-methyl-cellulose (CMC), which behaved as a Newtonian fluid and a higher concentration CMC water solution which behaved as a power law fluid. Glass spheres of 2 mm nominal diameter were used as solids. The flow rate at which erosion occurred together with the mechanism of bed erosion were determined visually, while the whole process was video recorded. Our tests indicated different erosion mechanisms and different erosion velocities for the three tested liquids, with the liquid viscosity playing a major role. The first mechanism, observed for water flow, gives erosion from the front of the bed while the second mechanism, observed for the flow of the two viscous fluids, gives erosion from the top of the bed. The role of each of the parameters to erosion is investigated, whether it is turbulent flow with the turbulent fluctuations being more capable to remove the solids from the formed bed or whether it is liquid viscosity, which results in the hydrodynamic shearing force. The results demonstrate that liquid viscosity plays a role in the erosion mechanism and yields different erosion velocities of the solid bed hence, it should be taken into account when modeling flow pattern transitions for solid-liquid flows. Prior studies have not identified this and it could be the reason of the disagreement between theoretical models and experimental and field data.

Jan 1, 2006

By Frank F. Aplan

Introduction Gravity concentration may be defined as that process where particles of mixed sizes, shapes, and specific gravities are separated from each other by the force of gravity or by centrifugal force. The nature of the process is such that size and shape classification are an inherent part of the process in addition to separation on the basis of specific gravity from whence the process got its name. Mother nature has long practiced this form of mineral concentration by concentrating such heavy and relatively indestructible minerals as gold, platinum, cassiterite, ilmenite, zircon, and diamonds in placer or beach sand deposits. Once freed of their host granitic or other rock through natural weathering processes, these minerals are then subjected to stream or wave action producing a natural classification and concentration of the heavy minerals. Gravity concentration dates back to antiquity and was certainly the first ore concentration process used when selective mining and hand sorting would no longer suffice to produce the quality of concentrate desired. Forerunners of the present day sluice box and panning techniques were undoubtedly used by the ancient Egyptians on the upper Nile to separate gold from stream gravel. By the second century BC the extraction of gold from veins in quartz was well detailed by Agatharchides, but there is evidence that gold was brought into Egypt from the south as early as the XI1 Dynasty (~1900 BC).1 Most assuredly gravity concentration devices were used during the later Bronze Age to separate the heavier tin and copper minerals from their lighter gangue minerals. The Athenians used an elementary form of Rowing film concentration at their lead-silver mines at Laurium,2 and elementary jigging using wicker baskets was also probably developed at this time. Agricola's famous treatise De Re Metallica3 demonstrates that by the 16th century gravity concentration technology was well advanced and a large number of devices had been developed. Chinese

Jan 1, 1985

By John T. MacWaters, George H. Milly

INTRODUCTION This paper describes operational procedures and instrumentation which were developed to implement a patented method of detecting and locating uranium ore bodies. All equipment was designed for accurate and reliable use under difficult field conditions. Data resulting from these developments, some of which are incorporated in a companion paper for this conference*, have contributed to our understanding, of the nature and significance of naturally-occurring radon exposures. Further applications of these techniques may prove useful in studying anthropogenic radon in evaluating the significance of variability in radon flux, or in taking proper account of the contribution of natural radon to ambient radon concentrations, particularly in mineralized regions. OPERATIONAL PROCEDURES The uranium search technique employed by GEOMET begins with a [reconnaissance mode], which utilizes a series of ambient air filter samples taken from a moving or standing vehicle to detect anamalous concentrations of radon. These samples are normally taken at night under stable (temperature inversion) or neutral atmospheric conditions, to avoid the rapid dispersion of the radon clouds typical of daytime turbulent conditions. Radon daughters formed by the decay of radon quickly attach to ambient aerosol particles and are captured on the surface of a membrane filter during a five-minute sampling period. The filter is placed in a portable alpha scintillation counter, and a five-minute count is started at a preset time after the completion of the sampling period. This count is followed immediately by a second five-minute count to enable determination of the cloud age, based on consideration of the relative half-lives of the initial radon daughters. With the use of tables computed from the mathematics of the uranium decay process, and with the measured radon background accounted for, the first and second counts are used to estimate the time which has elapsed since the pure radon initially emanated from the earth's surface. This cloud age, combined with wind speed and direction measurements made at the beginning and end of each sample, as well as with an understanding of the effects of local terrain features on wind trajectory, provides an estimate of the Probable location of the source. In practice the reconnaissance mode involves one vehicle with a single operator to take the five-minute samples, moving or standing, along any available roads or trails in the area to be covered. Under the usual nighttime stable conditions the cool air flows downslope and downvalley, and the operator will pay special attention to locations along the axes and confluences of the natural downflow patterns. These facilitate sampling of large air drainage areas. Successful detection of sources of radon based on high concentrations of radon daughters, and substantiated by evidence of "fresh" clouds, are frequently made on the basis of a relatively few samples taken judiciously by an experienced operator during a reconnaissance. At this point he has a choice: he can continue to cover the designated reconnaissance area, leaving the localization of any anomalous radon detections to await the ranking of detections by priority, or he can continue with localization of the detected source, either alone or by radioing for another vehicle to assist in triangulation operations. Localization of a source involves skillful and experienced use of the continuously collected data on concentration, age, and wind speed and direction, together with knowledge of the terrain from observation and contour maps, and exploitation of the available roads. Since age ratios are dependent solely on proximity of the source and wind speed, decreasing [cloud ages] based on statistically significant increasing age ratios represent the most useful. information in localization. The [magnitude of the concentration] of radon daughter products is also useful; however, it may vary widely for a variety of reasons during sampling for a localization, thus making this a secondary parameter for localization. Large values of concentration are of course useful; typical results for successful detection of a strong anomaly would yield alpha counts ranging from 10 to 25 times background values. These counts are convertible to ambient radon concentrations by appropriate consideration of the decay process. Successful localizations of radon sources using this procedure with ambient atmospheric measurements normally will narrow a source location to within an area ranging in size from less than a quarter of a square mile to at most a square mile, and frequently give information on the probable shape of the source (in plan view) on the earth's surface. Judicious use of this procedure could undoubtedly provide finer localization, but the coarser results just described are adequate for this Phase of GEOMET's uranium exploration procedures.

Jan 1, 1981

By Jan K. Wolski

This paper presents a simple method for determining air temperature gradients along a tunnel with time-dependent intake air properties. The variable intake air properties may be the flow direction and rate, air temperature and humidity, and the carbon dioxide content. The transient intake air properties are simulated by a series of steady intake air conditions, using a superposition method. The mathematical model was verified by reduced-scale experiments in the Waldo mine. The method may be usefull in conditions where the computation speed is more important than the precision of the results.

Jan 1, 1995

By Qiang Ji, Richard L. Sanford

A laboratory-scale microcomputer-based autonomous excavation system has been developed that moves a pile of fragmented rock to a designated location using a shovel attachment on a robot arm. Navigation and excavation sub- systems interactively direct a robot excavator to move the shovel to the rock pile, intelligently load its bucket using a video camera, and dump the rocks to a designated area. Although research was conducted on a laboratory scale model, the system can serve as the basis for further work on a full-scale, robust excavation system.

Jan 1, 1993