Search Documents

By P. E. Cavanagh

"The Davis tube test has been used for many years as a laboratory method for determining the magnetic iron re-coverable from a magnetite iron orebody. This paper de-scribes a method for determining the recoverable iron from ores of the Labrador Trough type, with the usua1 flow sheet utilizing spirals followed by magnetic separation.The mechanical structure of a metamorphosed iron ore, resulting from recrystallization over long periods of time, is the basis for the laboratory method developed. Similarities between the structures of such recrystallized ores and the structure of annealed and recrystallized steel are noted.A laboratory technique to determine the size of the different grains of gangue and iron ore minerals is de-scribed and the application of this information to arrive at recommended grinding techniques and flow sheets is demonstrated. The use of the method to determine recoverable iron in such ores is compared to actual iron recovery in the pilot-plant and commercial concentrations of the same ore.The use of a specified lower limit of recoverable iron as determined by this method, in order to design open-pit limits, achieves practical results when compared to designing a pit based on an arbitrary lower limit of total soluble iron. The Ungava Iron Ore deposits are used in giving an example of the resulting pit design changes."

Jan 1, 1968

By E. Fiset, T. Hennebel, F. Verbruggen, A. Prévoteau, K. Rabaey

Arsenic (As), bismuth (Bi) and antimony (Sb) are known to affect the quality of copper deposits in copper electrowinning operations. The codeposition of As was previously believed to occur only at current densities far exceeding the range of typical current densities for copper electrowinning. In this study, we investigate the copper electrodeposition on different pretreated stainless steel (SS) substrates from bleed electrolyte in galvanostatic mode at –45 mA/cm². Scanning electron microscopy (SEM) micrographs illustrate that during the initial phases of copper nucleation and growth, the current density was locally increased due to the pretreatments. It was reasoned that the codepostion of As could possibly occur in normal electrowinning conditions, but the risk can be substantially reduced by good SS substrate handling and maintenance practices. INTRODUCTION The presence of As, Bi and Sb is known to have a deleterious effect on the copper cathode quality in copper electrowinnings (Hiskey & Maeda, 2003; Hoffmann, 2004; Xiao, Cao, Shen, & Volinsky, 2012; Xiao, Cao, Mao, Shen, & Ren, 2014; Jafari et al., 2017). They are known to influence both the chemical and physical quality of the copper as they can contaminate the copper (Jafari et al., 2017) and affect the copper deposit structure (Hiskey & Maeda, 2003; Kim, Kim, & Chung, 2009), which contributes to a degraded market value of the copper (Tuddenham, 1984). The incorporation mechanisms of these impurities are believed to occur mainly through slime inclusion (F. Xiao et al, 2012) and electrolyte inclusion (Hiskey & Maeda, 2003). Other studies suggested that codeposition of these impurities is possible by their standard reduction potential being close to the one of copper (Xiao et al, 2014). Hiskey and Maeda (2003) investigated the copper electrodeposition on a copper electrode substrate in Cu electrolytes with a Cu, H2SO4, As, Bi, Sb composition representative for commercial copper tankhouses. The combination of voltammographic techniques and Auger electron spectroscopy showed that As was the first impurity to be electrodeposited from this electrolyte, yet at potentials where the limiting current density of the copper electrodeposition reaction is exceeded. The copper tankhouses usually operate at a current density ratio of 0.3 to the limiting current density in order to achieve tolerable copper quality deposits. The codeposition of As could be considered impossible in this current density condition. However, it is known that during the initial phases of electrodeposition on foreign substrates, a substantial part of the reaction proceeds by growth of individual nuclei where the current density is locally high and diffusion limited (Radisic, Ross, & Searson, 2006). Furthermore, it was observed that copper nucleation on TiO substrates occurred preferentially in the scratched oxide free areas which could serve as parts with high localized current densities (Chang, Choe, & Lee, 2005).

Jan 1, 2019

Post--Crunch Financial Management -An Overview A. The Industry and the Capital Markets B. .The SME -De-risking the Current and New Assets Followed by: C. The Lender?s Perspective on Re-financing?Jeff Stufsky, BNPParibas, NYCD D. .The Agency/Export Credit Lender Perspective?Doug Macaulay, EDC, Ottawa E. The Foreign Political Insurance Perspective?Pierre Vieillescazes, Carrick-Bend, Washington, DC ?Four Fundamental Metal Models No Longer Prevail. ?Mining is in new ?waters?: so be prepared (next page). ?Capital markets are uncertain-so be your own financier first ?If tight capital may remain, prepare to triage based on cash-flow production (not oz, lbs, tonnes, etc) ?Know your banker/financier(and it should know mining) ?In the past, it was ?know your borrower? ?The climbing team can fall if one climber carries too much ?Constantly re-assess the risk matrix (and j/v?s), and ?De-risk/diversify both the asset and the capital base

May 1, 2010

By H. Chaouki

The aim of this work is to simulate the forming process of a green anode. For this purpose, a nonlinear compressible viscoelastic constitutive law is presented. The concept of natural reference configuration is considered. Within an isothermal thermodynamic framework, a Helmholtz free energy is proposed to take into account the nonlinear compressible deformation process occurring between natural reference configuration and current configuration. A dissipation potential is introduced in order to characterize the irreversible aspect of compaction process. Thus, the constitutive law is formulated through two equations: 1) an expression of Cauchy stress tensor and 2) a differential equation characterizing the evolution of the natural reference configuration. Material parameters are assumed to be a function of the bulk density. This allows capturing the micro-mechanical phenomena within the chosen macroscopic approach. An experimental study based on compaction tests is carried out in order to characterize the mechanical behaviour of the anode paste. A user's material VUMAT subroutine for finite element dynamic explicit analysis has been developed and implemented in the ABAQUS commercial software. To evaluate the model predictive capability, numerical simulations of the compaction forming process of anode paste were performed. Simulation results show that the constitutive law predicts the experimental trends and gives interesting physical responses. This constitutes a first step toward making a benchmark with experimental results on the forming process of anode paste.

Jan 1, 2011

By S Sokhanvaran

Electrodeposition of silicon from a cryolite based electrolyte at a relatively low temperature (1000°C) is a promising approach to generate high purity silicon. In order to obtain fundamental data pertaining to electrowinning of silicon from Cryolite?SiO2 melts, density and electrical conductivity measurements were made. A range of temperatures and SiO2 contents was studied for each property. It was found that while density has an inverse relationship with temperature, the dependence for electrical conductivity is direct. Increasing silica content up to the saturation limit (~ 5 wt%) increases the density whereas further increase in SiO2, lowers the melt density. On the other hand, the conductivity is lower for the melts with greater SiO2 content, at any temperature.

Jan 1, 2011

By Jerry Ran

Many large underground mines using the open stoping method have changed their primary applications of consolidated rock fill (CRF) to paste or consolidated hydraulic fill due to considerations of demand in infrastructure and equipment, system reliability, backfill capacity and material sources. However, some smaller or even large mines still use or consider using CRF for backfill purpose due to factors such as capital expenditure, availability or suitability of other fill types or in some cases local regulatory requirements. As demands on CRF applications diminish among major mining companies, there is a lack of recent literature on application of CRF to open stoping in design and operation. There are several methods being used for fill strength design. Results from these methods have been successfully applied to paste or hydraulic fill. However, the design strength for CRF is much higher than that determined by use of these widely accepted methods. In operation, CRF preparation and placement have significant impacts on the quality of placed CRF and therefore the mining performance. This paper reviews the current fill design methods and their applications to open stoping with presentation of the bench marking data, presents fill failure cases and various CRF preparation and placement arrangements and discusses quality assurance and control programs.

Jun 1, 2012

By A. Pawelczyk, D. Hreniak, E. Zych, W. Strek, K. Grabas, A. Ostrowski

"Nowadays recycling became an important rare earth elements (REE) source, which allows to reduce their demand for extraction from natural deposits. At present, the used fluorescent lamps and old type TV or computer monitors kinescopes are selectively collected and undergo processing in the system of recycling. It has been estimated, that utilization of such waste would be sufficient to cover the REE demand for the next 5-8 years. In the developed process, the luminophores were separated from the electronic and electronic waste materials, and processed by hydrometallurgical methods to obtain concentrated REE in form of oxides. INTRODUCTIONInternational Union of Pure and Applied Chemistry (IUPAC) defines the rare earths as a set of seventeen chemical elements, specifically the fifteen lanthanides plus scandium and yttrium. They are considered the most important indicators of the developed technologies and techniques. Rare earths are used, amongst others, for the production of magnetic and superconducting materials, ceramics, lighting, catalytic converters, advanced electronics and alloys. The demand for RE continually increases, similarly to many other primary raw materials. Globalization, the growing demand for limited resources of raw materials, the policy of the countries controlling the raw material market and the economic crisis became a spur for new programs of socio-economic development of the European Union (EU), with particular regard to EU safety for commodities in intermediary as well as long-term horizons (COM 2008), COM 2011).EU countries import most of metallic and chemical raw materials important for their economy. In 2008 a detailed program named Raw Material Initiative was announced. The increase in demand for most raw materials having special importance for the development of technology, and access to of raw materials security of supply affect the future economies of the UE member states and other developed countries."

Jan 1, 2012

By K. Soldenhoff, D. Wilkins, E. Ho

In the processing of rare earth ores, a pure, mixed rare earth chloride solution is usually produced and used as the feed to solvent extraction circuits to separate the individual rare earths. Cerium(III) may be separated from the other rare earths by oxidising it to cerium(IV), which precipitates as cerium(IV) hydroxide in chloride liquors. This oxidation step may be inserted either before rare earth separation by solvent extraction or between solvent extraction circuits. Although oxidation of cerium by sodium hypochlorite has been known for many years, detailed conditions for oxidation are not readily available. The effect of hypochlorite addition, temperature, pH and cerium concentration on oxidation of cerium(III) from synthetic solutions was investigated

Jan 1, 2014

By Jamal Jafari, Abbas Sam

"The concentration of the fourth production line at Golgohar includes 66% iron with Blaine number of 500 cm2/g. For pelletizing process, the feed iron grade should be greater than 68% with minimum Blaine number of 1800 cm2/g. In this study, the low intensity magnetic Separators, particularly the feed particle size distribution of LIMS were considered. The feed particle size distribution of the separators was optimized to prepare an appropriate concentrate (as mill pelletizing feed). The samples were performed from the LIMS feed and after grinding, four d80 (64, 103, 132, and 15 3µm) were prepared. Then, laboratory magnetic separation experiments were conducted on these samples. The best results obtained using d80 of 132µm. In this particle fraction, the iron grade and Blaine number were 70.3% and 1571 cm2/g, respectively. Therefore, it seems necessary to include a grinding and classification systems before LIMS stage. According to the presence of a high amount of -132 µm particles in the initial feed, an inverse closed circuit was selected. The hydrocyclone was designed in three units as the classification system with 62 cm (diameter), 22 cm (overflow outlet) and 11 cm (apex diameter). By simulation of hydrocyclone with USIMPAC software, the size distribution of underflow was determined. Based on these results, a ball mill with dimensions of 6.7 m (length) and 5 m (diameter) was designed as grinding system.INTRODUCTIONGole-Gohar iron ore concentration plant No.4 (Polycom Plant) in Gole-Gohar Industrial and Mining Complex was installed to increase production capacity as well as treating the circulating load from AG and SAG mills of the main concentration plant of the complex. The load from the mine is crushed using jaw and cone crushers. The crushed ore is then combined with the circulated load and the combination is then grounded using HPGR and ball mills respectively.After comminution, there is a magnetic separation plant which includes a medium intensity magnetic separator (MIMS) followed by three low intensity magnetic separators (LIMS). Final concentrate dewatering is done using three belt filters. After the primary magnetic separation, the ore is upgraded to 62% Fe content and final concentrate which is the product of LIMS has 66% Fe content."

Jan 1, 2016

By W. G. Worcester

IN the presentation of this paper to the Institute, three objects are in the mind of the writer: first, to set forth the close relation which, of necessity, exists between ceramics and the industrial minerals; second, to clarify the apparently hazy understanding which many have of ceramics in general; and lastly, of equal or even more importance, to stimulate a greater interest in the industrial minerals, especially in those used and required by the ceramic industries. While Canada is now producing in large quantities a fairly wide variety of the ceramic industrial minerals, there are some which are not known to occur in the Dominion. Hence it is to be desired that our geologists, prospectors, and others, while on field work, should be on the look out for commercial deposits of such minerals as diaspore, bauxite, ucts of a value in excess of $600,000,000, a figure which places ceramics as kyanite, massive topaz, and sillimanite. A find of any of these in quantity would prove of very great importance and value to the country as a whole. At this point it seems desirable to introduce formally the word ceramic or the plural of it, ceramics. In doing so it may be stated that the origin of the word dates far back in history in that it was derived in part from the Greek word Keramos, 'a potter' or 'pottery', which in turn has been traced back to an older Sanskrit root meaning 'to burn' or 'burned stuff', having reference, no doubt, to burned pottery or other clay wares; and the word was so used until near the close of the last century, when the world's first schools of ceramic engineering were established in the United States. The use of the term ceramics was then expanded to cover a much larger field the entire field of the silicate industries and products. At one time it was suggested by a limited number of ceramists that the term 'ceramic engineering' be changed to 'silicate engineering'. This proposal, however, gained little support and was soon abandoned.

Jan 1, 1945

By K. S. Fraser, H. J. H. Pieterse

"A pressure oxidation plant to pretreat refractory sulphide ore at the Goldstrike plant in Nevada, was commissioned in early February 1990. The plant, with a nominal capacity of 1363 t/d, was commissioned over a one-week period and achieved design capacity and availability within ten weeks an unusually short period for a plant of this complexity.The pressure oxidation process is conducted under elevated temperature and pressure conditions, and in a corrosive environment. These conditions demand that the process and engineering design of the plant be carried out in a much more sophisticated and detailed manner than is normally required in a conventional gold plant.This paper provides an account of the process and engineering design of the Goldstrike pressure oxidation plant with special emphasis on the design of the vessels, slurry pumps, piping, valves, and control systems.BackgroundLocationThe Goldstrike property is located in Eureka County in northcentral Nevada on the Carlin geological trend. The mine is approximately 40 km northwest of the town of Carlin which is situated on Interstate Highway 80. The minesite is located 1700 m above sea level in the Tuscarora Mountains.Initial Goldstrike OperationsShallow, low-grade mineralization was discovered by diamond drilling in the Goldstrike area in the 1960s. A heap leach operation was established in the mid-I970s by the previous owners. The Post deposit was discovered in 1982. Gold production by mining and heap leaching reached I t/a (40 000 oz/a). American Barrick purchased the property in 1987 and started an aggressive program of deep drilling. This led to the discovery of the Betze and Deep Post deposits and established sufficient reserves to justify an initial 4100 t/d mill and a 5 500 000 t/a heap leach operation"

Jan 1, 1992

By P. Sauriol

This work addresses the design challenges and demonstrates the capabilities of a novel water transfer factor measurement apparatus. Several measurement concepts were screened on the basis of their water transfer factor accuracy using Monte-Carlo generated virtual experiments. The most promising measurement concept was assembled and tested to assess its actual measurement accuracy. For these concept validation experiments, the polymer electrolyte membrane fuel cell was simulated by adjusting the water injection rate to corresponding levels. Combining the anode and cathode measurements, the water transfer factor accuracy was typically better than 0.01. Real-time measurements of the water transfer factor on both anode and cathode sides of a polymer electrolyte membrane fuel cell were achieved. The anode and cathode side measurements were in good agreement with each other; however the anode side measurements were generally more reproducible. A parametric study showed that stream humidification plays an important part in the water transfer across the membrane electrode assembly. Finally the water transfer factor along the channel of a 300cm2 co-current fuel cell was obtained by using a series of six 50cm2 sub cells. The results were in good agreement with predictions from a recently proposed model.

Jan 1, 2005

By G. Zárate, G. Tapia

Anglo American Chile has been doing copper concentrate leaching studies at the laboratory and small pilot plant scale since 1992. Among the processes evaluated are bacterial leaching and pressure leaching using Mantos Blancos, Salobo Project and Quellaveco Project concentrates. Late in the nineties, it was decided to focus the research on pressure leaching, either medium or total pressure oxidation. Preliminary scouting tests were run with Mantos Blancos concentrate samples during 2000, which were repeated during 2003 together with samples of Los Bronces and El Soldado concentrates, in order to define the most suitable concentrate for running a pilot plant campaign at AARL, which was carried out in two campaigns, a first one from November 2003 through January 2004 and a second one during April 2004. Mantos Blancos was the selected concentrate and the laboratory and pilot plant results are discussed in this paper together with some preliminary economic estimates.

Jan 1, 2004

By Erik C. Westman

Knowledge of the orientation and relative magnitude of in-situ stresses at the mine scale is important for safe and efficient production from an underground mine. With this knowledge, stope location and scheduling can be optimized. Passive seismic tomography was used for imaging horizontal stress distribution at the mine scale. Microseismic measurements from the Creighton mine were used as input for the tomography calculations. The double-difference tomography algorithm was used, which provides the most precise results. The results clearly show a low velocity zone in the previously mined areas bounded by two high-velocity lobes located adjacent to the mined openings at locations consistent with those expected due to the horizontal stresses at the mine. The overarching goal of the research is to provide a tool that can augment both numerical modeling results and underground geotechnical measurements to allow the mine operator to produce in the safest and most efficient manner possible.

Jun 1, 2012

By Gonzalo Díaz, Diego Mesa, Willy Kracht

"It is well known that frothers affect the amount of water that is transferred to the froth, which has an effect on both the froth stability and the water recovery. On the other hand, since non-selective recovery by entrainment is directly related to water recovery, it can be said that frothers have an indirect effect on flotation selectivity. Recent research on this subject has shown that the non-selective recovery by entrainment, which is characterized by the entrainment factor, is frother dependent. In other words, the entrainment factor is not unique, but depends on frother type.Having different entrainment factors implies that for the same water recovery, the amount of undesired particles reporting to the concentrate may vary if one changes the frother type, which suggests, as a possible explanation, that it is not only the amount of water in the froth what is affected by frother type, but also the froth structure.The purpose of the current work is to study the effect of frother type on foam structure (two phase froth). A quasi-2D cell operated with a slot sparger was used to study the foam structure in the presence of three different frothers: Methyl Isobutyl Carbinol (MIBC), OrePrep®549, and Octanol at the same gas flow rate and reagent dosage. The foam structure was studied using image analysis, and an algorithm based on textural analysis was developed to classify the foams. The results show that it is possible to classify foams according to the frother used, which proves that frothers have an effect on the foam structure.INTRODUCTIONFrothers are usually dosed paying attention to froth stability, condition that is commonly estimated by sight, according to the operator's criteria and experience. This happens because there is not an established procedure or technique for frother characterization, generating qualitative descriptions such as “powerful” or “selective” frothers, which lack of scientific thoroughness and remain under subjective factors. Nevertheless, several works have been done in this line of research. Moyo et al. (2007) classified frothers based on their water-carrying capacity, proving that this characteristic is related with gas holdup and frother type. Previously, Trahar (1981) had related water recovery and gangue particles recovery, defining the entrainment value (ENT). Nowadays it is known that entrainment affects both hydrophilic and hydrophobic because it is not a selective process. In the last decade some studies (for example the one of Konopacka and Drzymala (2010)) delved into different entrainment behaviours dependent mainly on the flotation type (batch or continuous, agitated or columnar, etc.), but there were no studies on the effect of frother type regarding entrainment, since Rahal et al. (2001) argued that the ENT factor was independent of the frother type and concentration, and froth height."

Jan 1, 2016

By H. R. Shakeri, R. Mayer, M. J. Worswick, A. Rahem

The current focus of research and development in transportation industry is to use lightweight materials such as aluminium alloys for more structural components. In this regard, maintaining safety of the passenger and vehicle is the most important; therefore crashworthiness of components made of lightweight materials must be evaluated prior to sizable application of these materials. The focus of the present study is to understand failure and damage mechanisms during the axial crushing of aluminium tubes made of A1Mg3.5Mn alloy of 2 and 3.5 mm thickness. Due mainly to complexity of the crushed tubes, a microstructural approach is considered. In this study optical, stereo as well as scanning electron microscopy techniques have been used to study damage and failure mechanisms in these types of tubes, which are essential energy absorbing components in passenger vehicles.

Jan 1, 2006

By S. Malopheyev, I. Vysotskiy, R. Kaibyshev, S. Mironov

"In this work, the effect of pre-strain rolling on the annealing behavior of friction-stir welded 6061-T6 aluminum alloy was studied. To this end, the as-welded material was rolled to 10 or 20 pct. of thickness reduction prior to the standard post-weld T6 heat treatment. Three rolling directions were the 3-mm thick sheet were considered: along the welding direction, perpendicular to the welding direction, and at the angle of 45° to the welding direction. At relatively low pre-strains (10 pct.), the annealing behavior was found to be very sensitive to the rolling path, and rolling along the welding direction was most effective in suppressing abnormal grain growth. On the other hand, increasing the pre-strains to 20 pct. of thickness reduction inhibited abnormal grain growth irrespective of the rolling path.INTRODUCTION Heat-treatable wrought Al-Mg-Si alloys are widely used due to attractive combination of strength, ductility, excellent corrosion resistance and low cost (Polmear, 2006). To provide the optimal balance of mechanical properties, these materials are typically commercially available in appropriately work- and precipitation-hardened conditions (Polmear, 2006). During conventional fusion welding, however, the prior strengthening effect is totally lost due to elimination of the work hardened structure and dissolution of the strengthening precipitations. An innovative friction-stir welding (FSW) technology may partially overcome this problem. Due to the solid-state character of this process, which involves very large strains, the welded material is characterized by fine-grained microstructure with moderate-to-high dislocation density, and thus the prior work hardening effect may be preserved or even enhanced (Threadgill et al., 2009; Mishra & Ma, 2005). However, heat input associated with FSW inevitably leads to dissolution and/or coarsening of strengthening precipitates, thus giving rise to the undesirable material softening. In an attempt to restore the strength of the friction-stir welded material, the standard T6 post-weld heat treatment has been applied, but this approach was found to lead to abnormal grain growth (Malopheyev et al., 2016; Mironov, 2013, Mironov et al., 2015)."

Jan 1, 2018

By V. A. Leão, A. M. Silva, S. M. Bertolino, B. C. S. Ferreira, D. Guimarães

Although not considered a high risk pollutant as compared to toxic metals and acidity, environmental agencies worldwide are proposing regulations to control sulphate in effluents and drainages by setting a threshold value varying between 250 mg/L and 500 mg/L. The aim of this study was thus to compare four different techniques for removing sulphate ions from mining/metallurgy effluents. The first alternative studied was sulphate removal by precipitation as ettringite. Treating a synthetic solution containing 1650 mg/L sulphate at 22±1 ºC resulted in removals close to 85% during continuous precipitation. Sulphate sorption was also investigated using three different ion exchange resins as well as limestone. Fixed bed experiments produced sulphate loadings of up to 70 mg SO4 2-/L resin, at pH 2.0. In neutral wastewaters, limestone is also a potential adsorbent producing a maximum particle loading of 19 mg/g. Sulphate sorption on limestone seems to be an alternative to treating mine waters with sulphate concentrations below the 1200-2000 mg/L range, where lime precipitation is not effective. Subsequently, sulphate removal by sulphate reducing bacteria was also investigated and it was observed that reactor’s hydrodynamic conditions and the choice of substrate are important factors for the process. The different technical aspects of each technology are addressed.

Jan 1, 2014

By Jaime Meléndez Martínez

Recent interest in unconventional reservoirs motivates our work in laboratory measurements of seismic anisotropy. Seismic anisotropy is the variation in speed of a wave as a function of its direction of propagation. Analyzing anisotropy in unconventional reservoirs is important since anisotropy leads, for example, to differential stresses upon loading and could affect hydraulic stimulation (Reinicke et al., 2010, Zimmermann and Reinicke, 2009); in this sense, laboratory measurements are an important tool to study seismic anisotropy at small scales which can aid in the characterization of larger formations. The purpose of this work is to describe the laboratory methodology used to simultaneously measure ultrasonic P and S-waves in three different directions from a single core sample. Elastic anisotropy of a Proterozoic sedimentary rock from south-west Alberta is investigated. In metamorphic rocks seismic anisotropy is caused by preferred mineralogical alignment or foliation. Assuming a transversally isotropic medium, arrays of compressional and shear piezoelectric ceramic transducers were mounted on a sample trimmed from a core to measure travel times of ultrasonic P-waves and S-waves as a function of confining pressure at directions perpendicular, parallel, and oblique to the plane of foliation (bedding). Results show strong anisotropy agreeing with the assumption of a transversely isotropic medium. Dependence of travel times and hysteresis effects can be observed when pressurizing and depressurizing.

Jun 1, 2012

By S. Radacina Rusu

The satellite-based global positioning system (GPS) has significantly changed the way site operations are carried out in surface mining. The GPS has impacted safety, productivity, fleet efficiency, and maintenance practices. However, no comparable global localization system exists for underground mines. This paper discusses recent work in the application of ideas from the mobile robotics research community to the problem of real-time vehicle positioning in underground drift networks. Related previous work recently focused on the creation of globally consistent 2D maps of underground environments that possess sufficient detail to be used for underground localization. Our current work entails the development of a GPS-like system for mobile mining equipment, with results given from both laboratory and field experiments.

May 1, 2011