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By J. R. Dinn

On the afternoon of Saturday, June 23rd last; there was an unusual occurrence at the surface plant of the Dominion Coal Company's Caledorria mine, Glace Bay, which operates on the Phalen seam, here lying at a depth of 170 feet from the surface. On that day, the writer, who was attending a business conference in the General Office about a mile distant from the Colliery, received a telephone call to the effect that there was a strong odour of gasoline or kerosene in the wash-house and lamp-house of the Colliery, and that the attendants in both the wash-house and the lamp-house had become ill and had had to be sent home. Instructions were given at once to cut off the electric current, and to close all doors to prevent access to the building. When the writer arrived at the plant and questioned the workmen, he was led to the belief that the gasoline tank in the lamp-house (used in connection with flame safety lamps) had leaked and that the gas, having volatilized, had displaced sufficient oxygen to cause the trouble. Emphasis was being placed on the kerosene, or, as some said, the gasoline, odour. In the lamp-house, there is a small shuttered window which opens on a corridor. Here the workmen receive their lamps from the lamp attendant. An examiner, with a flame safety-lamp, proceeded to test the atmosphere within the building by passing his lamp through the open window, since, if the trouble was due to volatilized gasoline, a gas cap would be shown on the flame of the safety-lamp. After holding the lamp for a few seconds inside of the window, he withdrew it and remarked, "There's no gas cap" . Almost immediately the lamp fell from his hand and he dropped unconscious to the floor of the corridor. The writer, who was standing beside him, felt no ill effects and removed him at once from the corridor. Steps were immediately taken to revive him ( artificial respiration) , and in about ten minutes he became conscious and was breathing naturally. In making the examination, his head was not inside the window, but in line with the frame of it. It was apparent that some gas more deadly than the hydrocarbons from gasoline was present.

Jan 1, 1934

By E. H. Kranck

Introduction Baffin Island is still too in-accessible to be of interest to the mining industry. However, twenty years ago few people dreamed of mining iron ?ore in Labrador. A journey by air to the most remote places in the Arctic is today no more remarkable than a trip to Europe, and the technical difficulties of mining minerals of high value are not insurmountable. Some ?observations concerning the geology and mineral possibilities of Baffin Island, the largest of the Arctic islands, may therefore interest the members of the Institute, in spite of problematic practical value of the subject. The following short account is mainly based on observations made during the Baird Expedition of the Arctic Institute of North America last summer 1950), and on information available from earlier expeditions. Early Work Baffin Island was one of the first parts of Canada to attract prospectors. Frobisher sent a shipload of rocks, which he believed contained precious metals, from Baffin Island to England. This attempt, however, was a failure and no further serious prospecting work has, so far as I know, been done. During the past few years geological mapping has been carried out by the Geological Survey of Canada (Fortier. Davison, 1949-1950) in the southern parts ?of the island, along the coast of Hudson strait. In 1942, Weeks mapped the coast from Pangnirtung to the head of Cumberland fiord, and Netteling river up to Netteling lake. In the northern parts of the island, only scattered observations have been made ?by Bell, Watkins, Baird, and others.

Jan 1, 1951

By B. Chambers, M. Yunovich

"Corrosion monitoring is commonly used in a variety of industries as a means of effective corrosion control programs to extend the life of the asset and ensure safe operation of the facilities. The majority of the monitoring tools have limitations and tradeoffs – e.g., sacrificing the longevity of the probe for higher measurement resolution. Linear polarization resistance (LPR) probes have the advantage of providing the operator with accurate, real-time corrosion rate data; however, the probes can only be deployed in conditions where the measured environment possesses certain minimal conductivity. In many instances, utilization of LPR probes in conditions with intermittent wetting (for example, conditions where the temperature fluctuates above and below the dew point) presents a challenge. To address this limitation, a special-design cooled corrosion probe has been developed, commercialized and integrated into the distributed control system in the plants. In addition to high-accuracy measurement of corrosion rates, the probe allows for monitoring of pitting corrosion. The most innovative feature of the probe is the cooling circuit, which brings the temperature of the sensors below the dew point, forcing precipitation of moisture and thus permitting corrosion measurements. Additionally, the probe was found to be well-suited for monitoring corrosion in crude distillation unit (CDU) overhead space, where condensation of hydrochloric acid may take place at relatively high temperatures, which would require relatively moderate amount of cooling to be imparted to the probe sensors. This paper presents laboratory-based data from a test simulating CDU refinery environment. A case study is presented to demonstrate how the cooling probe can be effectively used in the plants for corrosion monitoring.INTRODUCTIONConventional corrosion-monitoring techniques such as weight-loss coupons to assess corrosion damage are commonly used in plants1. However, the use of coupons is not only labor-intensive, but also does not deliver real-time corrosion data, thus effectively serving as a “backwards-looking” monitoring tool. Linear polarization resistance (LPR) probes have the advantage of providing the operator with accurate, real-time corrosion rate data; however, the probes can only be deployed in conditions where the measured environment possesses certain minimal conductivity."

Jan 1, 2012

By J. F. Henderson

Stable mining operations commenced in the Northwest Territories in 1933. Pitchblende from Great Bear lake and gold from the Yellowknife district are the main minerals produced. The value of pitchblende products produced from 1933 to 1941 was nearly $6; 000; 000; data on subsequent production are not available. The first gold was produced from the Con mine at Yellowknife in 1938. Other properties that later came into production include the Negus; Slave Lake; Thompson Lundmark; and Ptarmigan mines. The annual gold production reached $3; 862; 000 in 1942 but due to the war and consequent labour shortage fell to $333; 218 in 1945. The only producing mines at present (May; 1947) are the Con and Negus; but several promising properties are under development; including that of Giant Yellowknife Gold Mines where large tonnages of ore are being blocked out. With the reopening of former producing mines and new production from properties now being developed; gold production should rapidly increase and exceed its former peak within the next few years.

Jan 1, 1954

By L. W. Krahenbil

The programmable Logic Controller (PLC), at its present stage of evolution, is now considered as a mature control system. The PLC combines the solid-state reliability of hardwired logic and computer control systems with the simplicity of a relay ladder logic. Relay symbolic programming through a function-oriented keyboard provides a means which plant personnel can easily become accustomed to work with. In a large coal facility, it is shown that the control engineer can provide improved control flexibility with the advanced capabilities of the PLC.

Jan 1, 1979

By G. P. Gormley

"Future open pit metallurgical coal mines in western Canada will be developed in complex geological environments. The success of these operations will be influenced by the mine operators' ability to prepare accurate mine plans and to predict and, subsequently, 10 control both out-of-seam dilution and coal recovery. Quintette Coal Limited has been mining its tightly folded and severely faulted Mesa depo sit at annual rates of up to 9 Mt of raw coal, since October 1982. Ongoing development drilling combined with continuous utilization of blast hole information, has been required to achieve an acceptable geological data base for short range mine planning. Thrust faulting has been a primary geological cause of difficulty in selectively mining waste and coal, which has resulted in higher than expected dilution in plant feed. The same geological phenomenon has also increased reserves by 6.3% and allowed for expanded mine plans to include a lower thrust plate, ultimately doubling the mines original reserve base. This paper illustrates the geology of the Mesa deposit and the type of work involved in its interpretation. Regional GeologyThe Quintette Coal Limited (QCL) property is located in the Peace River Coal Field of northeastern British Columbia. In this area, northwesterly-trending folds of the Rocky Mountain foothills are commonly cut by multiple, low-angle thrust faults, which dip to the southwest. The Lower Cretaceous Gates Formation, of near shore continental origin, contains 5 to 7 mineable seams of medium volatile bituminous metallurgical coal (Figs. I and 2). These seams normally range in thickness between 0.75 m and 9.5 m and have an aggregate thickness of between 15 m and 22 m."

Jan 1, 1988

By M. M. Williams

ALBERTA has been generously endowed with oil, natural gas, coal and water power, thus giving power producers a wide choice in the type of plant and fuel which can be used. Therefore, with such a variety of energy sources to choose from, why was coal selected as the primary fuel at Calgary Power's Wabamun steam plant? This part of the paper will cover the circumstances that led the Company to decide in favour of coal. The second part, to be presented by C. F. Doerr, will describe how the Wabamun coal mine has been developed to supply the large fuel requirements of the power plant. Before considering the Wabamun plant, we require a general under-standing of? the Company's electric system and load. Power is fed into a 5,100-mile high-voltage transmission grid from eleven hydroelectric plants and from the Wabamun steam electric plant. These plants have a combined generating capacity of 820,000 horse-power. Of this total, the hydro

Jan 1, 1963

By E. Sharifi, B. Komishke, R. Heffel, D. Schwartz

"The oil sands resources in Canada are one of the world’s largest hydrocarbon deposits. Processing of oil sands uses hot water to extract bitumen. The process generates tailings slurry that must be settled for final deposition. The tailings contain fine material, with poor water release characteristics which makes water recovery challenging. Polymer flocculants are added to assist in settling and dewatering the fine tailings. The amount of polymer addition is dependent on tailings characteristics, including the particle size distribution (PSD). If the PSD of the tailings is unknown, an excess amount of polymer needs to be added in the dewatering stage to flocculate the particles. Over flocculation also has a detrimental effect on the water release characteristics. Measuring the particle size distribution using an on-line analyzer could have major benefits over common laboratory methods as it provides online and fast insight into the process enabling the operators to implement required changes to minimize the reagent consumption, while achieving optimal flocculation. Online measurement of PSD using laser diffraction has long been used in base metals beneficiation processes. A series of test work using Outotec PSI500® particle size analyzer on oil sands samples from different operations have been conducted. Tests were performed by recirculating the slurry in closed circuit to simulate real plant conditions. This paper presents a summary of the results.INTRODUCTION Canada’s oil sands are the third largest reserves of crude oil in the world, with an estimated 165.4 billion barrels of recoverable oil (Government of Alberta 2016). Oil sands are a mixture of sand, water, clay and bitumen. Bitumen is a form of oil that is too heavy or thick to flow or be pumped without being diluted or heated. About 20% of bitumen reserves are close enough to surface to be mined. In mining methods, oil sand is transported from an open pit mine to the processing plant and bitumen is separated from solids and water. The separation process involves ore preparation, such as addition of hot water, steam and caustic (NaOH), followed by gravity separation and froth treatment (Masliyah et al. 2004). A general scheme of the extraction process is presented in Figure 1."

Jan 1, 2018

By M. Sakata, H. Hata, K. Haiki

"Most of the secondary ZnO contains fluorine (F) in large quantities. Serious troubles at the zinc electrowinning are occurred by the cathode corrosion caused by F, therefore we developed iron compounds as F-adsorbents used in zinc sulfate solution. The iron compounds can be reused repeatedly as F-adsorbents because they can adsorb/desorb F alternatively depending on the pH. Moreover, if the adsorptive capacity decreases, we can dissolve and re-synthesize them easily. In this paper, results of the experimental process which consists of five steps (leaching, F removal, Cl removal, purification and electrowinning) to produce high purity electrolytic zinc from the secondary ZnO are reported. INTRODUCTIONThe recycle material for zinc, secondary ZnO, contains large amounts of fluorine (F) and chlorine (Cl) which are halogen elements, compared with calcine obtained by roasting of zinc sulfide concentrate. The halogen elements cause adverse effects in the zinc electrowinning process and particularly F causes corrosion of aluminum cathode plates and eventually sticking of electrodeposited zinc and therefore, F concentration in the electrolyte is controlled to less than approximately 20 mg/L. There are several methods to remove F from secondary ZnO, such as leaching with Na2CO3 or NaOH solution [1-2], vaporizing in a rotary kiln by roasting at 1000 to 1200 degrees C [3-4]. However, up to the moment, there has been no effective method for the removal of F from zinc electrolyte and it has been a big obstacle in treatment of secondary ZnO in electrowining of zinc.The authors, therefore, developed an iron compound used as an adsorbent of F in the zinc sulfate solution [5-8]. This iron compound is Akaganeite that has a crystalline structure of ß-FeOOH. Akaganeite is synthesized by neutralization of FeCl3 solution containing a small amount of SO4 2- with Na2CO3. When this iron compound is immersed into weak acidified zinc sulfate solution, F in the solution is adsorbed. F adsorbed in the iron compound is removed by immersing in weak alkaline solution and the iron compound can be reused as F adsorbent."

Jan 1, 2012

By J. Lee

A monolithic caisson is one of the major structural components commonly used in the construction of docks, breakwaters, and container terminal quay walls. Since the structure of monolithic caissons is typical and somewhat simple, its design process is also typical and repetitive, but still time consuming. To reduce the total time and enhance productivity, we developed a parametric model in Revit to automatically generate a 3D model of a monolithic caisson. It is designed to generate the Revit model of a caisson with concrete body and reinforcing bars. The size of caisson, the number of reinforcing bars, and the space between reinforcing bars are automatically changed when users update parameters. This paper presents how we developed this parametric family in Revit for monolithic caisson design and how it would enhance its design process.

Aug 1, 2013

By I. M. M. W. R. Jones

"THE OBJECT of these notes is to initiate a discussion among the members of our Institution on the connotation of the term 'ore', and to arrive, if possible, at an acceptable definition of the term in the light of its current use by our leading mining engineers, metallurgists, •and geologists.The majority of •authors of well-known modern text-books on subjects dealing with mineral deposits define 'ore' in words which convey the meaning that it is an aggregate of minerals from which one or more metals can, under favourable conditions, be extracted profitably.Many eminent members of the Institution, and of mining and metallurgical institutions in other countries, consider that the term should not be restricted to metalliferous mineral •deposits but can also be applied correctly to certain non-metallic deposits. They believe that the growth, during the twentieth century, in the industrial importance of non-metallic minerals, and the progress made in the mining and the milling of deposits containing such minerals by methods similar to those used for metalliferous mineral deposits, no longer justify the academic restriction of the term to deposits worked for their metal content only."

Jan 1, 1954

By B. H. Weber

"Industry generally has become noise-conscious and is realizing that damage to the human ear is expected to become more costly than any other compensation. Noise control has been recognized as a necessity and, fifteen years ago, in co-operation among different countries, inter-national organizations were set up to co-ordinate measures against dangerous noise and the development of silencing devices began. Rock drills for underground operations were particularly scrutinized because of the explosive nature of the noise developing from air escaping from exhaust. This paper describes the results and the present stage of development in the reduction and control of noise on rock drills, with special application to their use in mines."

Jan 1, 1970

By Micheal Mayhew

"This presentation will provide information and facts on the drilling and blasting within a frozen shaft using a full face methodology. The Author will briefly discuss the history of the sinking of a frozen shaft in Saskatchewan, the challenges faced, and the solutions delivered. The case study will include a discussion describing the series of events that led to the decision to adopt a full face blasting methodology. The case study will describe key elements such as the drilling pattern, hole size and depth, explosive products and blast vibration monitoring systems. INTRODUCTION During the shaft sinking process at a project in Saskatchewan, it was recommended that a drill & blast benching method be utilized. Following an evaluation of the site, the geological conditions proved amenable to a ground freezing system that would stabilize the rock formations and prevent inflows of water into the shaft (Table 1).The shaft sinking process required that the ground surrounding the proposed shaft be frozen by drilling several near vertical freeze holes radially at a specified distance from the edge of the proposed shaft excavation. This would allow for the circulation of a chilled brine solution down the freeze holes. The circulation is achieved by means of stainless steel pipes encased within each other to provide a delivery and return conduit for the brine (Figure 1). As a result of this periphery freezing, the ground within the shaft excavation is also predominately frozen.The finished internal diameter of the shaft was 5.5 meters with varying overall excavation diameters to facilitate different liner designs used for various rock formations. For the most part, the fully unsupported/unfinished excavated diameter of the shaft varied from 6.9 meters to 8.5 meters depending on the zone excavated. The challenge was that the proposed drill and blast excavation method posed a significant risk due to the potential to damage the freeze wall and pipes during blasting. The decision was made to commence the excavation through mechanical excavation (i.e. chip and cut) methods then change to a drill and blast method utilizing a split benching design. Through this process, the team encountered five main challenges: 1. Sub-horizontal geological structures and slips that affected blasting performance and sometimes resulted in a sloping surface to the top of the bench; 2. Confined working area for the crews and equipment due to a limited work area as a result of utilizing the split (half) bench drill and blast methodology; 3. Mechanical chipping and cutting of the one-meter buffer zone to the final shaft diameter; 4. Crews working on extremely slippery uneven frozen rock and ice surfaces, which affected safety and efficiency; 5. Establishing a blast vibration monitoring system to determine if the drilling and blasting of the full shaft excavation diameter were acceptable."

Jan 1, 2019

By G. A. Frame, J. G. Patterson

The 24,000-tpd Frood-Stobie mill grinding circuit operation and control are described. Changes implemented during the past three years to improve grinding efficiency and capacity are discussed.

Jan 1, 1971

By M. Harrison, C. H. Stockwell

"Metals vah1ed at more than $200,000,000 have been obtained, mainly since 1930, from the mines of northern Manitoba. The greater part of this production has been copper, zinc, and gold from the Flin Flon, Sherritt Gordon, and Mandy mines. The chief mines from which gold alone has been produced are God's Lake, Laguna, and Gurney. At present (May 1947) Flin Flon and Sherritt Gordon are the only producing mines, but the Nor-Acme property is being developed for large-scale production of gold. Large deposits of nickel and copper are being diamond drilled at Lynn Lake, and the Thompson, Ferro, and other properties are being developed. The mineral deposits lie within irregular or elongated areas of Precambrian sedimentary and volcanic rocks, surrounded by granite ( Fig. 1).The common rock types include basic and acidic flows, agglomerate, ruff, greywacke, arkose, argilli te, conglomerate, and their gneissoid and schistose derivatives. They are invaded by sills, dykes, and irregular bodies of gabbro and diorite, and all are cut by granite. Some of the sediments are interstratified with volcanics, and others are deposited unconformably on them.STRUCTURAL GEOLOGYLittle is known of the structures of the rocks in the area as a whole, because by far the greater part is unexplored or has been covered only by reconnaissance surveys. Available information indicates a general east structural trend in the southeast part, whereas in the west part the folding is mote complex with no definite overall trend. However, in a few small areas in the western part where detailed work has been done, as around the Flin Flon, Sherritt-Gordon, Nor-Acme, and other properties, the structure is fairly well known. The following descriptions apply chiefly to these areas ."

Jan 1, 1954

By SANDVIK WHITE

The mining industry produces approximately 4-7% of global greenhouse gas (GHG) emissions. It is fundamental for mining operations to take immediate sustainable action to actively contribute to an emissions-free future for the next generations. The mining industry has traditionally relied heavily on diesel technology and transitioning to more sustainable solutions requires change management to drive cultural acceptance and new product development. Sandvik was interested to find out the lifetime emissions of a single drill rig and to compare similar application diesel and BEV drill rigs with same use profile to each other. That led the calculation and pondering towards comparing different countries and mine sites as well

Jan 1, 2023

By Nicholas Bonderoff, Amily Xu

The evaluation of battery electric vehicles (BEVs) in underground mines involves comprehensive business case analysis beyond just the capital and operating costs of the equipment itself. BEVs demonstrate benefits from an EHS perspective, reduced mine ventilation costs, lower energy operating costs, reduced overall GHG emissions (dependent on the source of electricity), elimination of DPM, lower equipment maintenance costs, and reduced cooling requirements in deep mines. When including batteries and supporting infrastructure, BEV capital costs are approx. 80% greater than that of diesel equipment. The project economics are highly dependent on the cost of electricity and diesel fuel, and these can vary widely depending on the location of the mining operation. Battery charging and swapping methodologies must be evaluated as there are a variety of approaches that can be employed which vary by manufacturer and type of equipment. Careful consideration of the cycle times, charging methodologies, and location of the battery charging infrastructure is necessary. Specific operating conditions must also be taken into consideration. For example, the time for blast gases to clear will be increased by reducing ventilation flow, and the potential impact on production needs to be evaluated. Similarly, the electrical distribution system needs to be evaluated for peak loading conditions when BEVs are charging. Criteria including maintainability, reliability, commercial availability, and performance need to be evaluated. BEVs have fewer components than diesel equipment and this correlates to lower overall maintenance costs, however, BEVs require maintenance personnel with specific skill sets in order to maintain the equipment. Battery lifecycle costs need to be considered as battery replacement incurs significant capital expense. Some manufacturers offer services to offset these capital costs through usage agreements. Recycling and disposal of batteries at the end of their lifecycles also need to be considered. With the increased selection of BEV equipment that will be available in the next 2-4 years, 100% BEV adoption is also possible. We recommend a holistic approach when evaluating BEVs for underground mines. This will ensure that everything is considered in order to evaluate the full impact of BEV implementation.

Jan 1, 2023

By R. Mulligan

"The Cordilleran tin belt extends from the Seward Peninsula in westernmost Alaska to Mexico. Throughout the Canadian section, tin occurrences are mainly confined to a belt along the northeastern fringe of the Western Cordilleran sub-region; the boundary of this sub-region with the Eastern Cordilleran sub-region is most simply defined as the practical eastern limit of granitic and metamorphic rocks. The stratified rocks underlying this restricted belt are mainly late Precambrian and early Paleozoic miogeosynclinal sedimentary rocks, which are more or less metamorphosed but otherwise are generally equivalent to the less severely deformed rocks underlying the Eastern Cordilleran sub-region. They contrast with Late Paleozoic - Mesozoic eugeosynclinal volcanic-sedimentary assemblages farther west, but the granitic intrusions throughout are mainly of Late Mesozoic age. Thus, narrowly defined, the tin belt largely coincides with a lead-zinc-silver metallogenic province, whereas copper deposits characterize the eugeosynclinal regions to the west. In addition to the tin occurrences, which include the Sullivan lead-zinc-silver mine, Canada's only significant producer, the belt contains all the beryllium, most of the tungsten and many Iithophile-type molybdenum occurrences. Several types of occurrences of each metal are represented. Lithium occurrences in the Canadian Cordillera are notably rare, and these few are insignificant."

Jan 1, 1971

By C. J. Hodgson

"IntroductionThe Kitsault molybdenum mine is located 600 m above sea level on Lime Creek at the head of the inlet of Alice Arm, 140 km northeast of Prince Rupert, British Columbia (Fig. 1). The area of the mine is characterized by rugged topography and deeply incised creeks which drain into the Portland Canal - Observatory Inlet fjord system. Access is by air service or boat from Prince Rupert, or by secondary road from Terrace.HistoryThe deposit was first staked in 1911, at which time the main feature of interest was a polymetallic vein with values in silver located southeast of the molybdenum deposit (Woodcock and Carter, 1976). Turnbull (1916) was the first to describe the extensive zone of crisscross quartz stringers with Mo~ on the banks of Lime Creek which, although it clearly had the potential to contain a major deposit, was not then believed to be of commercial value.Following sporadic work through the 1920s and early 1930s, the ground lay idle unti11959 when Kennco Explorations (Western) Ltd. commenced a program of systematic diamond drilling on the stockwork-type mineralization adjacent to Lime Creek. In late 1964, Kennco announced the presence of an orebody of 36 million tonnes averaging 0.230Jo Mo~ which was to be put into production at a rate of 5450 tonnes per day under a new subsidiary, British Columbia Molybdenum Ltd., at a forecasted capital cost of $20 million (revised to $30 million).Between January 1968 and April 1972, 10.4 million kg of molybdenum were produced from 9.3 million tonnes of ore, at an average mill recovery of 90%, and with an average mill head grade of 0.206% Mo~. The ore was mined in an open pit with a waste to ore stip ratio of 1.5 to 1. The. operation was terminated in 1972 due to weak molybdenum prices and escalating costs.In May 1973, the deposit was purchased by Climax Molybdenum Corporation of British Columbia, Limited and in 1979 transferred to affiliate Amax of Canada Limited. In early 1979, following completion of detailed feasibility studies, Arnax commenced construction of the 10 900 tonne per day Kitsault mine and mill complex based on a mineable open pit reserve of 95 million tonnes at an average grade of 0.192% Mo~, sufficient for a mine life of 25 years. The original capital cost estimate was $143 million; it subsequently escalated to approximately $200 million."

Jan 1, 1995

By Loui Geoffroy, Philippe Gaultier, Martin Piotte, Claude Coache, André Drouin

"Automatic driving at high speed of an underground truck was tested at Brunswick mine in September 1995. Modifications to the truck included: a remote interface to control actuators, front and back video cameras to follow a roof mounted optical guide and proportional hydraulic controls on the steering.The mathematical model of the hydraulic system was adjusted using least square regression. The steering data, used in calculating the regression parameters, were acquired from the moving truck. The automatic steering control used three measured variables: lateral deviation, angular deviation and steering angle. Lateral deviations are obtained using the cameras, which are in continuous view of the guide, while steering angles are acquired from an extensiometer placed at the articulation point of the vehicle. Gain scheduling was used to compensate for vehicle speed and available hydraulic flow. Non-linear characteristics of the modeled hydraulic system were offset using open loop compensation.Speeds up to 23 km/h in forward direction and 13 km/h in reverse were achieved deviaduring continuous testing along one of the mine’s production drifts. Proportional steering was essential in achieving high speeds, as it enabled more precise positioning of the vehicle’s steering direction while reducing the abuses on cylinder and cylinder pins via diminished oscillations about the optical guide at high speeds."

Jan 1, 1997