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By Juras ST, Krouse RH, Godwin CI

The Buttle Lake camp is in central Vancouver Island, southwestern British Columbia, Canada. The camp hosts world-class polymetallic volcanogenic deposits of Devonian, Frasnian age (370Ma). This paper describes an on-going sulphur and lead isotope study of the major orebodies.Sulphur isotopes were determined for sulphides (pyrite, chalcopyrite, bornite and galena) and sulphate (barite). Sulphide analyses are markedly different from sulfate. The differences are explained below in a unique model.Sulphide isotopic compositions cluster tightly (del34S -6.7 to 4.6), and demonstrate isotope reversals. Calculated temperatures of correctly ordered mineral pairs are unrealistically high. We conclude that the sulphides are in isotopic disequilibrium, presumably because of rapid precipitation from a quenched plume in an anoxic environment, and because of subsequent sulphide replacement.

Jan 1, 1990

By Brian J. Olson, Kevin Haiar

Originally constructed between 1939 and 1941 as part of Franklin D. Roosevelt’s New Deal programs, the Bonneville to Hood River 115 kV Transmission Line required an infrastructure upgrade to remain reliable and in-service. The line traverses the rugged landscape of the Columbia River Gorge on the Oregon- Washington border, featuring steep, talus slopes; uneven, rocky terrain; and a variety of environmental sensitivities. This paper details the design and construction of 27 micropile foundations for new, fire- hardening steel poles through a particularly challenging stretch of the alignment. The difficult access and environmental constraints at these sites designated them as helicopter-accessible and precluded the collection of detailed geotechnical information prior to construction. Micropiles provided a viable foundation alternative due to their portability and flexibility during construction. Detail will be provided on the extensive preliminary desktop study performed, as well as the process of developing engineering designs to successfully accommodate for variability and unknowns in complex geological conditions. With an increasing number of electric power projects traversing challenging terrain and facing similar obstacles, this project stands to provide valuable lessons learned to the industry.

Sep 8, 2021

By Gustavo Torres Málaga

Jul 20, 1955

By I. Gaballah

Decontamination of synthetic solutions of PbC12 containing 10, 100 and 1000 ppm of lead, using chemically treated barks had been studied. The percentage of !cad cations' removal from solutions depends upon the pH and the initial concentration. About 99 % of the initial lead content can be removed at pH of about 3.5, 5.5 and 6.5 for initial concentrations of 10, 100 and 1000 ppm respectively. The maximum retention capacity of the treated bark is about 83 mg of lead per gram of modified bark. Bark loaded with lead had been analyzed by Infra Red spectroscopy. It seems that lead reacts with hydroxyl groups of the phenolic constituents of the bark. On the other hand, the removal of a lead cation by the bark leads to the release of two H+. This seems to show that the removal of lead could be interpreted as an ion exchange with hydrogen belonging to the hydroxyl groups of the modified bark.

Jan 1, 1994

By Luiz Augusto Ferreira de Campos Viana

O processamento de aços ARBL (Alta Resistência Baixa Liga) para fabricação de bens de capital de dimensões avantajadas pode sobrecarregar máquinas operatrizes de indústrias do setor metal-mecânico. Uma rota alternativa para processamento deste material é a conformação do mesmo a temperaturas elevadas (processamento "a morno"), para redução de seu limite de escoamento e consequente diminuição do esforço nos equipamentos. Entretanto as propriedades mecânicas destes materiais devem ser mantidas após seu retorno à temperatura ambiente. Neste trabalho um aço ARBL temperado e revenido foi submetido a 1, 3, 5, 7 e 9 ciclos térmicos, com a soma do tempo de todos os ciclos térmicos igual a 10 horas e temperatura de 580°C. Em seguida ensaios mecânicos de tração, impacto em corpos de prova Charpy-V e dureza Vickers foram executados. A caracterização microestrutural e análises fratográficas dos corpos de prova de tração e impacto foram realizadas por meio de microscópio eletrônico de varredura (MEV). A análise microestrutural revelou o coalescimento de partículas de cementita em todas as amostras. A resistência mecânica dos corpos de prova submetidos a 1, 3, 7 e 9 ciclos caiu. A energia absorvida no ensaio de impacto aumentou para estas amostras. O corpo de prova submetido a 5 ciclos térmicos apresentou endurecimento secundário. A fratografia de todos os corpos de prova ensaiados a tração revelaram fratura dúctil. O mesmo ocorreu para os corpos de prova submetidos ao ensaio de impacto, exceto para os corpos de prova submetidos a 5 ciclos térmicos. Em nenhum dos casos ocorreu descaracterização do material com quedas nos limites de resistência a valores inferiores aos especificados pelo fabricante.

Aug 16, 2017

By Walshe J. M.

The slow-speed compressor is giving place to the high-speed type, with its greater economy of material and space; and, where very large units are required, the turbo-compressor is supplying the need. In the very large air-supply stations on the Rand, turbocompressor units of a capacity of 20,000 and even 50,000 cubic feet, requiring 4,000 to 13,000 horsepower, are quite a commercial proposition, and have proved a practical success. Air-compressors of this size are, however, very exceptional, and the high-speed reciprocating compressor is quite capable of dealing with the highest outputs so far required in this country and, in the hands of manufacturers experienced in the design of high-speed steam-engines, a very high standard of reliability and efficiency in operation is obtained. The so-called “high-speed” or more correctly quick-revolution type of compressor is now extensively used in mines and collieries; for the air-pressures required for power purposes in mining work, two-stage compression, with an intercooler between stages, is the design usually adopted in best practice. It is not the writer’s intention to describe a variety of high-speed air-compressors but to select as an example of this type of compressor the one with which he is most familiar, and which is probably more largely used than any other, namely, the double-acting two-cylinder two-crank type with automatic light-plate air-valves, and with the working parts lubricated on the forced-lubrication principle. Sectional drawings, efficiency curves, air-cylinder diagrams and other data accompany the descriptions and photographs of compressor design, components and mine applications

Dec 1, 1916

By Marc C. Bétournay

A number of successful proof-of-concept projects have been carried out to replace conventional power application, such as diesel and rechargeable batteries, in underground mine vehicles. This has led to the development of the world?s first fuelcell production vehicle, a mine locomotive. A mine loader project has also started and several other projects are planned. These projects are providing the mining industry with the required information to make this technology shift possible. The application of fuelcell power will yield several important benefits such as the elimination of underground diesel emissions, significant reduction in the primary extraction?s sector greenhouse gas emissions and support for a more productive scenario. This article reviews these successes, discusses ongoing and potential projects and presents the technology application benefits that could be possible for mining operations.

May 1, 2003

By G. Morin, F. Chiesa, B. Tougas, B. Duchesne, Jocelyn Baril, N. Giguère

"An aluminum A356 compressor impeller was sand cast using the Low Pressure technique. The casting was limited in size (170 mm in diameter, 1.2 kg in weight) and very intricate in shape thus making 3D mold printing particularly favorable; indeed, producing this part by the traditional pattern-core box route would involve mounting 12 cores inside the mold while stringent dimensional tolerances are required as the impeller blades are only 2 mm thick. Consequently the molds were produce on the X-One MFlex printer of Quebec Metallurgy Center - CMQ. A dozen castings were produced with different casting temperatures and filling times so that it was possible to assess under which conditions complete filling of the mold cavity would be achieved. Filling and solidification modeling allowed predicting misruns and metallurgical properties inside the A356 (AlSi7Mg04) casting.INTRODUCTION Recent advancements in additive manufacturing enable foundries to produce molds without the tooling (pattern and core boxes) necessary when conventional technology is used (Eyad, 2016). This is particularly advantageous when dealing with intricate shapes and/or when a limited number of parts must be produced within a few days rather than in 5 weeks. An additional advantage is gained when producing prototypes (Johnson, 2016) as changes are much less costly and time consuming when made on a numerical 3D drawing rather than on patterns and core boxes. 3D printing is normally economical for a small number of parts; however, if the part is not too big and very intricate in shape such as the part that will be studied in the present work, 3D printing can be economical even for an important number of castings to be produced. On the other hand, low pressure casting is a high integrity casting process in which the mold cavity is filled from the bottom via a transfer tube in which the liquid aluminum rises under the pressure applied at the surface of the melt as illustrated in Figure 1. The filling can thus be precisely controlled, eliminating the turbulence created when the mold is filled from the top (gravity casting). Also, the pressure applied on the melt during solidification results in excellent feeding of the casting when conditions of directional solidification are met. In the present work, the compressor impeller shown in Figure 2 will be sand cast by low pressure."

Jan 1, 2018

By C. H. Schack, A. O. Ipsen, H. G. Poole

"INTRODUCTION In the course of the investigation of manganese mineral occurrences in continental United States, the Bureau of Mines has collected several lots of ore from properties in the vicinity of Long Valley, Ariz. The ore occurs as irregular and random pockets in a brecciated zone. As only high-grade portions of the deposits obtained by selective mining would be acceptable as commercial-grade manganese ores, an investigation was made to determine amenability of the ores to concentration by ore-dressing methods. Several types of ores, differing in grade and mineral associations, were studied.Ores from the Vaiazza property are of special interest, owing to the successful application of silica flotation for their concentration. Ores from the Shroup and Conner-Hough properties are very similar but differ somewhat in their response to ore-dressing Method's. In all instances, the man¬ganese minerals are psilomelane and pyrolusite, with minor amounts of other manganese oxides. The country rook is a brecciated limestone; the diluent in the high-grade ore pockets is chiefly silica. The low-grade manganese ores are limestone replacements, and the chief gangue material, of course, is limestone."

Nov 1, 1947

By Carolina Arriel Pedroso Dias

Neste trabalho, tiras de aço inoxidável duplex UNS S32205 foram laminadas a morno a 600°C com 60% e 80% de redução e, em seguida, foram recozidas a 1050°C durante 300 s. A tira como fornecida (laminada a quente industrialmente e recozida) também foi recozida para efeito de comparação. Avaliou-se o comportamento mecânico das amostras como fornecida, 60% e 80% por meio de ensaios de tração e microdureza Vickers, obtendo-se 779 MPa, 730 MPa e 807 MPa de limite de resistência a tração e 265 HV, 244 HV e 256 HV de microdureza Vickers para as três condições descritas, respectivamente. Outros ensaios de microdureza foram realizados ao longo da superfície do corpo de prova fraturado em tração, indicando um aumento da dureza nas regiões mais próximas da fratura. O aumento da dureza na região de estricção indicou o aparecimento da martensita induzida por deformação para as amostras laminadas a morno. Usando a derivada da curva tensão verdadeira em função da deformação verdadeira, (ds/de), avaliou-se o comportamento de encruamento do aço para as três condições. Juntamente com os exames por microscopia eletrônica de alta resolução e difração de raios X, buscou-se uma interpretação dos mecanismos de deformação plástica envolvidos no processo de encruamento. Em determinados estágios, observou-se uma mudança da inclinação para um regime estável, indicando a ocorrência de outros mecanismos de deformação plástica, diferentes do escorregamento de deslocações. A martensita induzida por deformação foi considerada responsável pelo aumento da taxa de encruamento do aço, i.e., por ser obstáculo à movimentação das deslocações e por postergar a formação da estricção.

Oct 30, 2017

By E. Stemn

Incident investigation is of utmost importance in most high-risk industries. This study was undertaken to study the content of past investigation reports to determine the effectiveness of the incident investigations. The study uses a semi-quantitative method to assess the effectiveness of incident investigations in the Ghanaian mining industry by evaluating the quality of past investigation reports. The assessment tool consists of 5 elements with several indicators and rating scales for assessing the quality of an investigation report as a measure of the effectiveness of the investigation. The method was applied to 304 investigation reports of 3 Ghanaian large-scale gold mines, and the results correlated with incidence rates of the mines to determine if any relationship existed. The results showed that the mines differ significantly in the quality of their investigation reports, suggesting differences in the effectiveness of their investigations. In addition, the incidence rates of the mines negatively correlated with some elements of the assessment tool. In general, the method was found useful and revealed areas where improvement is needed. INTRODUCTION The importance of learning from incidents is well documented in the literature. For instance, some scholars regard learning from incidents as important for improving safety [1,2]. Thus, many organisations spend considerable resources in identifying lessons from incidents and subsequently on the process of improvement that follows the identification of lessons. It is therefore important for such organisations to determine the effectiveness of their learning from incidents processes, in order to identify specific areas where improvements are needed, so that interventions can be as specific as possible. The learning from incidents process models the plan-act-check-do approach of management systems, often consisting of four major stages, namely; data collection and incident analysis, planning interventions, implementing interventions and follow-ups and evaluation [3,2]. The investigating and analysis of incidents have been regarded as one of the vital stages of the learning process since it is the stage where lessons are identified [3,2,4]. It has also been noted elsewhere in the literature that results of the previous stage of the learning process are important for the next stage [3]. For example, ineffective incident analyses could result in the planning of ineffective remedial measures. One of the primary aims of incident investigations is to identify lessons from previous incidents which when implemented can prevent future recurrences or minimise the effects of future incidents. There is thus the need for organisations to assess the quality of their investigations periodically since it is one of the means they adopt to improve safety and the quality of remedial measures to some extent depends on the effectiveness of the investigations. Although previous studies [5,2] have assessed the effectiveness of the learning process, and some aspects of the learning process, such as incidents reporting, there is less focus on the effectiveness of incident investigations. The research described in this paper was therefore conducted to contribute to this gap, focusing more closely on incident investigation reports.

Jan 1, 2019

By J Geronimo, P Kumar, Z Yussupova, M Yahyaei, M Powell

This work goes beyond the general perception of how the well-known mine to mill process can be applied, by applying deeper knowledge along the mining chain. Grade deportment and dilution are considered at the mining stage, and modelled with the new SMI blast movement simulator, linking with the block model data. Assessing the shift to a considerably more competent section of the orebody is quantified via substantial milling trials at standard and higher-intensity blasts. These were stockpiled for batch processing through the mill to ensure feed integrity. The trial work included operating the mill at widely different fillings to develop Grindcurve milling responses. Additionally, model informed process control is initiated via a mill prediction tool.It has been found that accounting for blast movement for the higher intensity blasts could generate additional value of around $1.5M per blast. With the high-intensity blast and changing mill control, the plant was easily able to exceed projected mill throughputs with the far more competent Pipeline ore. Strategies to shift the workload and debottleneck the milling circuit were proposed and proven during the milling trials, demonstrating an increase in throughput of 7 per cent despite running at a lower SAG mill speed, and potential of 16 per cent for increasing the SAG mill to standard operating speed. A number of process improvement opportunities have been identified to enhance current productivity and ensure long term capability to process the considerably more competent future ores. All of this is being linked in with the major digitisation program at the Barrick Cortez site, with an objective of linking all the data into a mine-wide process optimisation system, that can embed the processes by providing process-wide data access and production support via the future dynamic models linking ore body knowledge to productivity along the full process chain.CITATION:Powell, M, Yahyaei, M, Geronimo, J, Yussupova, Z and Kumar, P, 2018. The designed approach to mill liner optimisation – experience at Pustynnoye mine, Kazakhstan, in Proceedings 14th AusIMM Mill Operators' Conference 2018, pp 595–612 (The Australasian Institute of Mining and Metallurgy: Melbourne).

Aug 29, 2018

By H. A. Halupka, I. A. Mozer

"At its plant in San Juan, Peru, Marcona Mining Company operates two grate pelletizing furnaces for the agglomeration of 3.5 million long tons of magnetic concentrates annually. Line One, installed in 1963, was built by Lurgi as a downdraft process furnace utilizing a furnace fan for the recuperation of hot gases from the cooling zone. This line was modified in 1966 to include both updraft drying and downdraft drying, and the original roof burners were converted to side-wall burners. Line Two, a Dravo-Lurgi furnace with an annual capacity of 2.4 million long tons, was built in 1966. This line, in contrast to the modified Lurgi furnace, employs direct recuperation of hot gases from the cooling zone and utilization of process gases from the firing zone for updraft drying.At its plant in San Juan, Peru, Marcona Mining Compa-ny operates two grate pelletizing furnaces for the agglo-meration of 3.5 million long tons of magnetic concentrates annually. Line One, installed in 1963, was built by Lurgi as a downdraft process furnace utilizing a furnace fan for the recuperation of hot gases from the cooling zone. This line was modified in 1966 to include both updraft drying and downdraft drying, and the original roof burners were converted to side-wall burners. Line Two, a Dravo-Lurgi furnace with an annual capacity of 2.4 million long tons, was built in 1966. This line, in contrast to the modified Lurgi furnace, employs direct recuperation of hot gases from the cooling zone and utilization of process gases from the firing zone for updraft drying. 5 per cent increased capacity, 30 per cent lower fuel oil consumption, and approximately 400 per cent reduction in grate bar and pallet corrosion. Firing of the pellet bed was improved by conversion from roof to side-wall burners. This modification also permitted utilization of monolithic refractory in place of pre-fired shapes, thereby improving over-all furnace availability and reducing refractory stock requirements from 154 different shapes to 18.Data are presented to compare operating performance of the Dravo-Lurgi furnace and the modified Lurgi furnace. These data show 30 per cent lower fuel oil consumption and 10 per cent higher capacity per unit grate area for the Dravo-Lurgi furnace, which also averages higher availability due to greater operating flexibility."

Jan 1, 1970

By John Furness Park

This paper, which describes the mining methods and practices at the Jarbidge mines of the Elkoro Mines Co., is one of a series of papers being issued by the United States Bureau of Mines on mining methods and costs in various districts throughout the United States. LOCATION AND HISTORY The Elkoro Mines Co.'s property is located at Jarbidge in the northeast corner of the State of Nevada (fig. 1). The camp is 9 miles south of the Idaho line; the nearest railroad point is 70 miles to the northeast at Rogerson, Idaho. A road leading to the south and connecting with Deeth, Nev., is passable during the summer months; the heavy snowfall which generally takes place early in the winter usually closes the road until the first of July.

Jan 1, 1931

By T. G. Sitharam, P. B. Choudhury

Prediction of ground vibration (peak particle velocity, PPV) and frequency is an important task in geoscience. Till date, many empirical equations are derived from conducting trial blasts in the mines, to arrive at attenuation predictors. These predictors are usually site dependant and hold good for one particular type of rock/strata. These predictors cannot be used for geologically different rocks/strata. This paper presents the application of support vector machine (SVM) model, for predicting blast induced ground vibration and frequency, using a one comprehensive model for three different types of rock. Inputs to the SVM model formulation involve twenty one parameters consisting of geotechnical properties of the rock mass, blast design geometry and explosive properties, and the output of the formulated model is peak particle velocity and its associated frequency. The data has been acquired from eight limestone mine, five coal mine and two manganese mines. The comprehensive SVM model is formulated using 400 datasets and tested with 143 datasets. The performance indicators to the model not only justify its formulation but also the advantages it has over site specific predictor models. The SVM model not only predicts PPV, with higher correlation coefficients as compared to predictor equations, but also the associated frequency.

Jan 1, 2010

By A. Rodriguez-Prado

"Magnetic fields affect the growth of cultured cells and plants; however, limited information exists about their effects on vegetation performing environmental remediation. Constructed wetland mesocosms treating hexavalent chromium (Cr(VI)) wastewater exposed to low-intensity magnetic fields (60 Hz, 56.5 × 10-6 Tesla) produced 100% more biomass than the unexposed control. Nonetheless, they removed only 43 ± 27% of Cr(VI), compared to 60 ± 21% for the control. A Cr(VI) reduction expression was developed as a function of the magnetic field. The design and operation of constructed wetlands to treat mining wastewater can be corrected for magnetic field effects.RÉSUMÉ Les champs magnétiques affectent la croissance des cellules et des plantes cultivées; toutefois, il existe peu d’information quant à leurs effets sur la végétation utilisée à des fins d’assainissement environnementale. Les mésocosmes des marais artificiels traitant des eaux usées, contenant du chrome hexavalent (Cr(VI)), exposés à des champs magnétiques de faible intensité (60 Hz, 56,5 × 10-6 Tesla) ont produit 100 % plus de biomasse que le contrôle non exposé. Néanmoins, ils n’ont enlevé que 43 ± 27 % du Cr(VI), comparativement à 60 ± 21 % pour le contrôle. Une expression de réduction du Cr(VI) a été développée en tant que fonction du champ magnétique. La conception et l’exploitation de marais artificiels pour traiter les eaux usées des mines peuvent être adaptées pour tenir compte des effets des champs magnétiques."

Jan 1, 2015

By R. Shiva Kumar, G. E. Sreedhar, Rajan Kumar, K. Suresh, A. K. Aketi Veera, M. Narasimha, P. S. Jodan

"In most of the coal washeries, Dense Medium Cyclone’s (DMC) are deployed to treat coarse coal fraction in the range of 50-0.5 mm. DMC’s are very popular due to its ability of high tonnage, ease of operation and effective separation at high near-gravity material (NGM) in feed coal. The ease or difficulty of washing is merely depending on the NGM fraction present in run of mine coal. However, the quantitative effect of NGM on DMC performance was not explored in the literature. Hence, in this investigation, the influence of NGM on DMC performance is focused. With the help of synthetically prepared coal mixture, the effect of NGM mass fraction on separation efficiency is studied in three different approaches. Firstly, by increasing the NGM coal fraction systematically from low to as high as possible; second by varying the distribution of NGM coal; and third by varying distribution of particles lying just above and below the near-gravity zone. Washability studies are also carried out to establish the theoretical yield for the prepared synthetic mixtures. Pilot-plant experiments are carried out in a 4-inch DMC with 1.4 operating separation density treating coal in the size range of 4 - 0.5 mm. From results, the partition curves are constructed by both density and size wise distributions. It is observed that at higher NGM coal fraction i.e above 60%, the performance of DMC is very poor with significant coal particles misplacement. In second approach with increased distribution at higher density fractions, the separation efficiency reduces. In third series the distribution of fraction in near-gravity zone doesn’t much effect the separation except the shift in separation density. It is observed that smaller size (-0.5 mm) coal particle having high NGM content seems have a profound effect on DMC performance leading to significant fines misplacement to wrong products."

Jan 1, 2018

By H. R. Manouchehri

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

Sep 1, 2012

By R. A. Campbell

Pig iron and silicospiegeleisen were produced experimentally from a very low-grade manganiferous iron ore from Steep Rock, Ontario, by a two-stage electric smelting process. The most favourruble operating conditions were determined for each stage. Cement clinker then was made by calcining the slag from the second stage of smelting, with additional limestone and alumina. (This slag would normally be a waste material). The cement clinker produced had the composition of commercial Portland cement, and met the physical test requirements of the Canadian Standards Association Specification A5-1951 for normal Portland cement as well as could be expected for a material produced on .such a small scale.

Jan 1, 1958

By W. H. Strickland

The research reported here characterizes ultrasonic ranging sensors for autonomous navigation on underground mine mobile equipment. Because ultrasonic rangers are inexpensive, have no moving parts, have no lenses to clean, are small and unobtrusive, and can measure distances in dusty environments, they are especially sui ted to underground mi ne environments. The investigation began with laboratory tests of field of view, angle of incidence, intersensor variation, and ranging accuracy of individual rangers and a ring array of 24 sensors. The results showed the sensors have good accuracy and low variability. Additional experiments at AHAX' s Henderson mine Showed the sensors could accurately and reliably measure rib features, convex and concave corners, and drift intersections. The results showed that when used and analyzed properly, the sensor data may be used reliably for underground mobile equipment navigation.

Jan 1, 1990