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By Cameron J. Clayton

Cumberland Resources Ltd. is currently planning to develop the Meadowbank Gold Project located some 70 km north of Baker Lake, Nunavut in the eastern Canadian Arctic region. The Meadowbank Gold Project currently consists of up to 6 main gold bearing deposits within relatively close proximity to one another which are planned to be mined primarily as a truck-and-shovel open pit operation and using conventional gold milling and extraction. The mining plan indicates that approximately 20 million tonnes of ore will be mined over a mine life of 8 to 10 years. The operation will generate approximately 160 million tonnes of mine waste rock and about 20 million tonnes of tailings. The site is located in an area of continuous permafrost with mean annual average air temperature of -11 °C and average annual precipitation in the range of 100 to 200 mm. Lakes cover a large portion of the site, including some of the ore deposits. The location of the site, and the physical environment, pose challenges to development. This paper presents some of the designs considered to effectively manage and utilize the waste products of mining at the project.

May 1, 2004

China’s vibrant economic growth is built on coal, the source of two thirds of the country’s electricity. Over 95 percent of China’s coal is mined underground with the average mining depth at 410 m and in-creasing at 10 m per year; today, the deepest Chinese coal mines have exceeded 1,000 m. With increasing mining depths, there are greater challenges including increased methane emissions and spontaneous combustion. According to the government, nearly half of China’s coal mines are classified as gassy (with specific gas content at least 10 m3/mt). Coalbed methane (CBM) is a clean energy source. However, only a small percentage of the methane is captured, and the rest is vented directly to the atmosphere. This paper describes China’s CBM resource, its production and utilization.

Jan 1, 2006

By Don Novotny, Dana Spencer

In this workshop our intent is quite simple; that is that we will introduce a relatively new technology that may have applications in blasting applications. This technology is the laser initiation of explosives. This workshop course is not intended to suggest ways in which specific blasting problems can be resolved. That is the purview of experts within each of your fields.

Jan 1, 1994

By R. N. Edwards

The Magnetometsic Resistivity (MMR) method is based on the measurement of the low-level, low-frequency magnetic fields associated with non-inductive current flow in the earth. The traditional resistivity method maps the electrical properties of the earth by measuring the electric field caused by galvanic current flow between a pair of current electrodes. The MMR method differs from it in that the potential electrodes are replaced by a sensitive coil or magnetometer and a component of the magnetic field due to the current flow is recorded. The presence of an inhomogeneity redistributes the current flow which results in a perturbation of the electric field and, usually, of the magnetic field. The electric field immediately above a relatively conductive inhomogeneity must, by Ohm's Law, be smaller than that expected for a uniform earth. The current density in this region is also reduced but the current density within the inhomogeneity itself is enhanced so that the horizontal component of the magnetic field measured above the inhomogeneity is usually larger than that expected for a uniform earth. A method of interpretation using the magnetic anomaly was patented by Jakoskyl in 1933 but it met with little success at that time. Part of the problem was undoubtedly with the instrumentation, and only recently have robust instruments of sufficient sensitivity been developed2 and field data of good quality obtained. There are many common configurations of the potential and current electrodes in the resistivity method. Similarly, in the MMR method one or both current electrodes may be moved with the magnetometer, either horizontally or vertically ( in a bore-hole), or the current electrodes may be maintained in fixed positions and the magnetometer alone moved. The MMR anomaly is defined as the difference between the

Jan 1, 1975

By H. Kose

In this research, a model quarry with an annual production capacity of 1 000 000 tonnes has been studied for both pit and hillside quarry cases with constant overall slope angle and variable bench slope angle, considering road grades of 8 per cent and 10 per cent. First, technical requirements have been determined and then the effect of production parameters, such as hole diameter, type of quarrying (pit or hillside) and road grade, on the cost has been investigated to determine bench height. Based on the results, it has been concluded that hole diameter has to be kept large in both pit and hillside quarrying to reduce drilling unit costs. In addition, in order to take advantage of gravity and reduce transportation cost, it has been suggested that bench height and road grade have to be kept high and low respectively in the case of hillside quarrying (downhill transportation) while, in the case of pit quarrying (uphill transportation), bench height and road grade have to be kept low and high respectively, in order to transport the blasted material to a lower height and distance, to save energy, thus decreasing the transport cost. Keywords: Quarry, pit, hillside, road grade, bench height

Jan 1, 2005

By Adelson Goncalves

No processo de extração mineral, a perfuração de rocha é uma atividade essencial. Por isso, a redução de custo com materiais de desgaste é sempre um desafio para todos no campo da mineração. A partir desse desafio, o grupo de melhoria contínua Perfuração desenvolveu um projeto que visa redução de custo com hastes para perfuratrizes de grande porte. A metodologia aplicada para elaboração do projeto foi o PDCA, onde foi desenvolvido uma forma de reaproveitar o corpo da haste, que evita o descarte precoce da peça, otimizando a vida útil e consequentemente reduzindo o custo com materiais de desgaste de perfuração.

Aug 17, 2017

By B. K. Belle

The beginning of 21st century has heralded the global strategic importance, as evidenced by increase in energy prices and energy generation-emission-utilization dilemmas. In January 2008, the South African energy supplier, ESKOM had tabled the concept of power conservation and acknowledged the energy crisis until 2016. The concept is required of all energy users to reduce their electricity consumption, intensify energy efficiency and cautiously proceed with new projects. The generation of energy results in by-products called ?green house gases? (GHGs). To make a positive response to climate change and their effect on the environment, every energy user must ensure efficient energy use through technical and administrative means referred to generally as energy savings. This paper identifies mine ventilation engineering, in particular the electricity consumed by main fan units, as an area of potential energy savings. For a major mining company, electricity consumed by main ventilation fans alone can be in the order of 120 MW. Although a known fan engineering technique but scantly applied technology identified as the Hermit Crab can be seen as a ?quick win? project, due to its success in other industries such as cement and steel. The ?Hermit Crab? technique® involves upgrading or replacement of an impeller - whatever its origin - with a design impeller to suit the actual ventilation requirements, resulting in increased fan efficiencies. The cash flow benefits associated with a case study and its rollout of this technology have been calculated. For a 10% increase in main fan efficiency, would have a net present benefit of US$ 16.08m over 10 years. With the inclusion of carbon credits, this benefit rises to US$ 29.40m in total. Application of other available technologies, viz., composite materials, ventilation-on-demand and variable speed drives are discussed.

Jan 1, 2009

By G. W. Jones

During the course of an investigation by the Bureau of Mines into the causes, behavior, end control of anthracite-line fires, it was observed that the carbon monoxide disappeared from a scaled fire area much more rapidly than could be explained oil the basis of leakage of gases. Two suggestions were offered for this high rate of disappearance; (1) That the carbon monoxide was oxidized at temperatures below 150° C, by either the anthracite or its ash (tests on many anthracites have shown that at temperatures above 150° C carbon monoxide is liberated in the oxidation products when air is passed through it); (2) that the carbon monoxide was oxidized by micro-organisms present in the sealed area.

Jan 1, 1939

By C. J. Simensen, R. Østhus, H. J. Roven, K. G. Skorpen, H. Kalager

"This work encompasses co-extrusion of alloy Al4.5Mg at the core and rapidly solidified Al4.5Mg1Ag forming the surface layer. The goal is to produce a multi-material by co-extrusion having a relatively hard surface as compared to a softer core. At the same time, work hardening in both alloys is expected to be significant due to Mg in solid solution. Precipitation hardening at 160°C is studied by applying solution heat treatments at 560°C. The hardness increased from 80 to 130 VH in the surface material after 236 h. Surprisingly, the Al4.5Mg alloy also shows pronounced aging at this temperature, i.e. from 70 to 90 VH. The relatively high solution heat treatment temperature introduces grain growth in the core, but this is insignificant for the RS surface alloy. Blisters forms at the surface and cracks follows large portions of the interface. However, the tensile ductility is significant in all conditions due to very pronounced work hardening, i.e. for the as co-extruded, T6, under- and over-aged. The elongation at fracture ranges between 40–45% and the tensile strengths 240–275 MPa. The tensile properties increase linearly with the thickness of the RS alloy, i.e. following the rule of mixtures.INTRODUCTION Al-Mg alloys in 5xxx-series are classified as non-heat treatable wrought alloys (Polmear, StJohn, Nie, & Ma, 2017). The formation of the binary ß-Al8Mg5 does not give a substantial increase in the strength of the alloys (Mondolfo, 1976). When a third element like Ag, Cu or Zn are added, G.P.?zones are formed at low temperatures and intermediate, partial coherent phases are nucleated somewhat higher temperatures and finally a ternary, equilibrium phase is formed (Auld, 1968; Cousland & Tate, 1986; Mondolfo, 1976). Both the formation of G.P.?zones and intermediate phases increase the hardness and strength of the materials. An intermediate, hexagonal T´?phase is formed in Al-5 wt%Mg-1wt%Ag, and finally the equilibrium, cubic phase (Al,Ag)9Mg5 is nucleated (Cousland & Tate, 1986; Mondolfo, 1976)."

Jan 1, 2018

By Kerry Gee, Gary Colgan, James Fricke

Introduction Elevated zinc concentrations are observed in groundwater within alluvium adjacent to Silver Creek east of Park City, Utah. The study area is located in a small valley one and one-half miles northeast of Park City, Utah in Summit County, Utah (Figure 1). Although surface water concentrations in Silver Creek are typically less than 1 mg/l, groundwater concentrations have been measured as high as 85 mg/l in a near neutral pH environment. The elevated zinc concentrations in groundwater result from several factors including: (1) dissolution of zinc from tailings exposed at the surface and within the alluvium, (2) oxidizing conditions created by surface/ground-water exchange, and (3) ideal geochemical conditions for the dissolution of zinc-containing minerals. These ideal conditions include readily soluble minerals, available anions for complexation, and lack of available surface adsorption sites.

Jan 1, 2005

By Wilson D, Kirkland J

Compressed air energy storage (CAES) uses low cost off-peak energy to compress air and pump it into pressurised underground storage. Expanding the air through a modified form of gas turbine generates electrical energy when required. While generating power, a CAES station consumes approximately one-third of the gas required for the equivalent installed capacity of a conventional gas turbine. Air can be stored in underground rock caverns, caverns in salt domes, or in aquifers. Existing CAES power stations use caverns mined out of salt domes. Aquifer storage for CAES has been proposed, but not yet implemented. The groundwater in the aquifer would be displaced during air injection and when required the air would be extracted using the natural hydro-static pressure. Victoria has no salt domes, but has aquifers onshore in the Gippsland Basin with geological dome structures of suitable depth, discovery pressure, porosity, permeability and caprock for CAES development. Field tests costing several million dollars would be required to prove the suitability. The most suitable aquifer is near Seaspray, where several dome structures exist. The aquifer, comprising of coarse sands capped by coal and mudstone, is some 600 metres deep with a hydrostatic pressure of 6.3 MPa. Computer simulation of injection and extraction of air from the aquifer under various combinations of horizontal and vertical wells, permeability and tubing head pressures indicated the largest aquifer structure had the capacity to sustain a 300 MW station. A well field comprising of 24 directionally driven wells with a horizontal exposure to the aquifer would achieve the air flow rates required. Using plant similar to that recently installed at McIntosh Alabama USA, would mean high capital costs compared to standard gas turbine plant. However, a review of modem gas turbines indicated that they could be easily and economically adaptated to CAES duty. Adapting a 120 MW gas turbine would give 344 MW output. A separate air compression plant would be used. Economic evaluations indicate that, for gas prices above $1.95 per GJ, a 344 MW CAES plant is more economic for intermediate/reserve load duty than simple cycle gas turbines.

Jan 1, 1992

By Vladimir G. Kochnev

Crushing and grinding account for the major portion (60 to 80 percent) of the overall expenses for ore processing. Autogenous (AG) and semiautogenous grinding (SAG) have been considered a step forward in comparison to conventional grinding circuits with several stages of crushing and using ball (and/or rod) grinding mills (Bassarear, 1982, MacPherson, 1989, Pithois, Casalis, 1983, Maripuu et al., 1983). However, there remains room for improvement to existing AG and SAG technologies and both technologies have immense economic benefit potential. Experience gained by the Technics & Technologies of Disintegration Ltd. (TTD) in the research of grinding processes shows that grinding in AG and SAG mills can be performed in a more effective way. The company's approach comprises the following elements: ? Novel mill design. ? New liners and lifters. ? Novel discharge grid design. ? Technique of treating material of critical particle size. Comparative tests that demonstrated the usefulness of these innovations are described in this article. Currently, there are hundreds of AG and SAG mills in operation throughout the world. Application of new internal elements of the mills and reconsideration of the circuit design of the existing grinding equipment using present technological solutions would significantly increase the throughput rate and diminish power requirement.

Jan 1, 2008

By Robert C. Bates

Variations in water percolation rates through saturated cohesionless hydraulic backfill (mill tailings) have been studied in relation to the many physical aspects of the system to determine the most important factors in causing these variations. A multivariable least-squares regression analysis of 135 separate tests shows that a reliable estimate of the water percolation rate through typical hydraulic backfill can be made if the bulk density (unit weight), specific gravity, and grain-size distribution are known or can be estimated. Equations for predicting percolation rate, coefficient of permeability, and seepage velocity are developed both for the range of data analyzed and for extrapolation. The prediction equations for use within the range of data studied are quite accurate, while the ones developed for extrapolation are less accurate but still give reasonable approximations of flow rates. The equations given are valid for cohesionless materials that are free of clays and micas, exemplified by classified mill tailings. The equation developed for predicting percolation rates is as follows: 1nP20 = 11.39147 + 2.853422 1n(VR X D10) + 0.1747436 VR X Cu -178.8039 D10 X D50 + 311.7034 (DSO )3, (1) where P20 = percolation rate, inches per hour at 20° C; correction factors for other temperatures are given in the text, VR = void ratio, dimensionless, D10 = effective size (diameter in millimeters of the 10-percent-finer grain size), Cu = coefficient of uniformity (ratio of the diameter of the 60-percent-finer grain size over D10), D50 = average size (diameter in millimeters of the 50-percent-finer grain size), and In = natural logarithm (log to the base e). The prediction equation for percolation rate is rather complicated, so for practical use a nomograph that simplifies the solution of the prediction equation was developed.

Jan 1, 1967

By Audrey Boissier, Marie-Anne Camon, Cecile Cathalot, Yves Fouquet, Laurent Bignon, Arnaud Agranier, Ewan Pelleter, Sylvain Bermell, Florian Besson

INTRODUCTION In October 2014, on behalf of the French government, Ifremer, along with the International Seabed Authority (ISA), signed a contract to start a detailed exploration program for seafloor massive sulfide (SMS) deposits in the work plan located on the slow spreading Mid-Atlantic ridge (MAR). The contract has a fifteen-year lifetime and the related exploration program must include the outline of SMS deposits and a resource assessment, as well as detailed environmental base line studies in the contract area. The exploration for SMS deposits generally includes detection of hydrothermal plume anomalies, acquisition of surface and near-bottom geophysical data, sampling operations from the research vessel (e.g. dredges, cores), and dive operations. The environmental studies include, among others, short and long-term oceanographic measurements, water column studies, biodiversity evaluation close and far from SMS deposits, characterization of natural hydrothermal plumes and related sedimentation. The HERMINE research cruise held from March 13th to April 28th 2018 (R/V Pourquoi Pas?) was the first cruise dedicated to exploration of active and inactive SMS and to the quantification of natural chemical input to the water column. The HERMINE cruise strategy was built up around three main objectives: (i) regional exploration including the detection of plume anomalies and the research of SMS deposits, (ii) local exploration of a SMS district and (iii) integrated study of a natural hydrothermal plume. This 3-in-1 cruise required us to optimize the switch between dives and surface operations. Day-time was devoted to dive operations whereas night-time was mostly dedicated to CTD/Rosette operations. The Nautile HOV (Human Occupied Vehicle) was well suited to the working time schedule of the cruise because it was time efficient in shorter (i.e. < 10h) dives due to fast descent and ascent speed, fast submerged forward speed, high maneuverability and the ability to carry heavy science payload as well as large volume of samples. Regional Exploration The first seventeen days of the HERMINE cruise were devoted to regional exploration, i.e. the detection of new plume anomalies and the research of new sulfide mineralization in the French work plan (10 000 km2; 6 clusters).

Jan 1, 2018

By Wojciech Klecan

Cobb County, located on the northwest side of Atlanta, GA, is continually growing and, like many other metropolitan areas, it needs to increase the capacity of its waste water system to meet future demand. The Cobb County Water System (CCWS) is the responsible agency for water distribution, waste water collection and treatment in most areas of the county. CCWS, one of the most progressive agencies in the metro-Atlanta area, is addressing its future waste water capacity needs in the southern part of the county with the construction of the South Cobb Tunnel and Pump Station. This project consists of an 8.8-km- (5.5-mile-) long, 8.2-m- (27-ft-) diameter, tunnel boring machine (TBM) excavated waste water storage and conveyance tunnel; six tangential vortex-flow intakes ranging from 1,533 to 5,700 L/s (35 to 130 mgd) peak flow capacity, two construction shafts, six 1.8-m (6-ft) finished diameter connecting tunnels ranging in length from 6 to 975 m (20 to 3,200 ft) and a 5,700-L/s (130-mgd) wet/dry pit pump station. The pump station will have a semi-circular wet well with a dividing wall that extends almost to the top of the shaft and a spilt dry well for reliable operation. Roller gates will control the flow to the wet well from the tunnel. The pump station will have six 1,420 L/s (32.5 mgd) pumps and two sets of stair wells and elevators. With a finished diameter of 32 m (104 ft) and a depth of 62 m (204 ft), this is the largest pump station shaft constructed so far in Georgia for the dewatering of a waste water tunnel. The pump station shaft was also the highlight of the well attended and successful 2009 Shaft Design and Construction Short Course held in Atlanta, Sept. 10-11. The two-day course was sponsored by the Underground Construction Association of SME and Pennsylvania State University and concluded with a field trip to the pump station shaft. The tunnel starts south of the city of Austell and finishes at the South Cobb Water Reclamation Facility (WRF), located on the banks of the [ ] Chattahoochee River just north of Interstate 20 (Fig. 1). The South Cobb Tunnel will run 30 to 137 m (100 to 450 ft) below the surface, with an average depth of about 91 m (300 ft), through metamorphic rocks (Fig 2). The construction contract was awarded to Shea-Traylor JV with the lowest bid price of $305 million and notice-to-proceed was given on July 14, 2008. Jordan Jones & Goulding, Inc. (JJG) is the project designer and performed the geotechnical investigations. Parsons/Jacobs Associates is the construction manager. The South Cobb Tunnel is CCWS?s second deep hard rock tunnel. The 15.3-km- (9.5-mile-) long, 5.5-m- (18-ft-) diameter TBM excavated the Chattahoochee Tunnel was the first deep tunnel to be construced in Cobb County. Construction began in 2000 and the project was completed four years later. It is located about 16 km (10 miles) northeast of the South Cobb Tunnel in similar geology. It was designed by JJG to meet east Cobb?s long-term waste water capacity needs and provide flow equalization to the R.L. Sutton WRF. The Chattahoochee Tunnel was named ?Outstanding Civil Engineering Project of the Year? by the Georgia Sec-tion of the American Society of Civil Engineers in 2006.

Jan 1, 2009

By J. G. Donaldson

Nickel containing less than 0.01 percent of total metallic impurities was produced at the Rolla Metallurgy Research Center of the Bureau of Mines by electrodeposition from purified electrolytes. The first report on this research4 described purification of electrolytes by selective precipitation and by liquid-liquid extraction. This second report describes a procedure: or electrodepositing high-purity nickel from electrolytes purified by passing a nickel ammine solution through a column of an ion exchange resin. The nickel electroplated directly from the ammine solution without further treatment; a titanium cathode and two platinum anodes were used. The nickel deposit was dense, smooth, and adherent, and contained less than 0.001 percent each of cobalt, copper, and iron, and spectrographically detectable traces of aluminum, magnesium, and silicon. Nonmetallic impurities in the nickel metal were carbon and sulfur, each present in concentrations of less than 0.01 percent. The results of several experiments planned to purify solid nickel salts by zone refining are also reported. These salts, after purification, were intended for use in preparing electrolytes for deposition of high-purity nickel. Results were not encouraging so that the more promising ion exchange procedure was emphasized chiefly.

Jan 1, 1962

By N. A. McPherson, P. C. Stevens, A. J. Rigby

"There has been a consistent move in recent years to continuously cast small billets while utilizing ceramic stream protection between tundish and mould. The need to have ceramic stream protection has developed from a need to improve billet surface quality by submerged pouring. The need to protect the ladle to tundish stream in conjunction with tundish to mould protection is explained.The continuous casting of thin slabs is at the development state and will require a great deal of ceramic development to ensure the economic viability of the project. An insight is given to the main problems.IntroductionDuring the early development period o f the continuous casting of steel in the late 1940s and 1950s, much of the work was carried out on small cross section products. For example, the continuous casting of 50 mm square billets was carried out on a production scale in the United Kingdom at Barrow. Slab casting was initiated on a production basis on 100 mm thick stainless steel slabs at Atlas Steel, Weiland, Ontario. In the case of slab casting the thickness increased gradually until it was similar to Slabbing Mill feedstock , i.e. in the range 200 mm to 250 mm , although stainless steel continued to be lower at around 185 mm thick.For billets , a significant proportion of steel is now cast at around 100 mm square which creates specific difficulties when casting with a submerged pour - mould powder practice. The move back to smaller cross sections is further emphasized by the current interest in "" Near Net Shape Casting"" . If this move continues, then significant development will be required to create the refractories used between tundish and mould in the continuous casting process.Two specific areas which will receive attention are; (I) the casting of small cross section billet s; and (2) the casting of thin slab."

Jan 1, 1990

By R. F. Lynch, F. E. Goodwin, A. F. Skenazi

"The Gal/an alloy has been developed for continuous galvanizing of steel. The choice of the eutectic zinc-aluminum alloy with addition of misch metal gives a coating with specific characteristics as far as structure, analysis, surface chemistry and surface morphology are concerned. The performance of the uncoated Galfan coating is superior when compared to conventional galvanized particularly for corrosion resistance and ductility. For coil coating applications, these two assets are of the utmost importance but in order to benefit from these two advantages, good paint adherence and high resistance to edge creep and blistering have to be obtained. Despite Galfan&apos;s unique features compared to other zinc based or aluminum zinc based coatings, existing pretreatments and painting conditions are used with only minor modifications in order to assure good adherence and edge creep resistance. With compatible processing, Galfan can outperform galvanized and Galvalume as a substrate for coil coating as is demonstrated with various test results.IntroductionThe technical and commercial development of Galfan, a 95% zinc-5% aluminum-0.1% lanthanum-cerium hot-dip coating for steel, has been rapid. From its identification as a promising coating in late 1980, it has evolved from a research product to a fully commercial product with over 100 000 metric tons of coated sheet produced to date, and another 90 000 tons, at minimum, scheduled for 1986. The great majority of tonnage produced to date has been coil coated for use in building panel , appliance, and similar applications. Much technical work has been done to determine the suitability of Galfan for these applications and the proper way of processing sheet for best results. The present state of knowledge is discussed in this paper, along with some recent applications which are given asexamples"

Jan 1, 1987

By H. B. Humphrey

[EXPLOSION of gas and dust in coal mines, have caused death t lid injure to mines, and destruction of workings in all countries where coal is mined underground. In the United Stales the first reported explosion wits in Min; explosions have continued to the present. The danger to film ill it mine When an explosion occurs in not always measured by the violence created or by their nevi lies, to the area through which flame and Violence extend. As many, perhaps more, risen have died from gases and lade of oxygen (known as "after-damp") than have been killed by the blast and hart. Me explosions often are caused by it combination of factors, including concentration of methane in air, formation of clouds of dust, and the presence of a flame or spark. These explosion factors have varied with changes ill milting method and practises over the years, but the basis causes have always been the salve. Understanding of the causes and to acceptance of ways to guard against explosions and their effects have been slow to spread from investigates to officials and Own to bosses and miners. To a considerable extent there hats lawn a belief that explosions were a joining risk but might hr, put oil hut could not be presented. Such belief is based on the human failure to maintain and observe necessary precautions. These failures, caused by inertia to change, carelessness, or reliance on continuance, of past explosion-free years, are being reduced in number and effect by education of miners and supervisors and acceptance of higher prevention standards.]

Jan 1, 1959

A discussion on simulation tools to aid the development of robotics platforms is presented. The focus of the work is towards mining robotics platforms where operations are typically in unstructured, unpredictable environments and a high degree of dependability in their operations is required. It is argued that a test-based development approach leads to more robust solutions and faster development cycles than traditional single-track field-only development and that the key enabling technology for this development paradigm is the judicious use of simulation tools. The future direction of simulation for use in online applications such as active planning and as a means to assist tele-operation in high latency communication applications is also brief y considered together with the requirements for a useful simulation environment in terms of the simulator architecture. Finally, a case study is presented on the application of the discussed methodologies to an unmanned ground vehicle (UGV) for earth-moving tasks, which is being developed in an accelerated time frame with a transient development team.

Dec 6, 2010