Search Documents

By C. J. Edmonds

Of the gold mined in Canada over 90 percent is extracted from the ore by the process of "cyanidation". In this process crushed ore is treated with lime to provide "protective alkalinity" and cyanide, usually in the form of sodium cyanide. The gold is dissolved in the cyanide solution, which after further treatments for clarification, is precipitated by the addition of zinc dust. Wastes from the process consist of tailings which will contain cyanides. Water consumption, mill size, effluent quantity and quality are depicted in transparency (1). It should be noted that as far as the wastes are concerned it has been impossible to postulate a typical situation. Variation from the above data will occur. A summary of data from tailings pond effluents is presented in transparency (2). The figures in parentheses indicate the usual range of values for the parameter.

Jan 1, 1973

By D. B. Dreisinger, M. Mokmeli, B. Wassink

Dissemination of selenium and tellurium in sulphide minerals results in the contamination of pregnant leach solutions and electrolytes in the hydrometallurgical treatment of sulphide ores and residues. The selenium and tellurium content of the copper sulphate-sulfuric acid solution may be reduced into insoluble precipitates of copper selenides and tellurides using cuprous ion. This study presents the use of the thermodynamics and kinetics for the removal process of selenium and tellurium in real life application. Dominant species of selenium and tellurium in acidic copper sulfate solutions were identified and the reduction rates of species were compared. The findings were applied to industrial conditions by modeling the Vale’s CRED (Sudbury, Canada) plant’s selenium and tellurium purification circuit. Rate reducing factors on selenium and tellurium removal were identified and discussed.

Jan 1, 2014

By W. A. Parks

Stone that may be applied to purposes of construction is available in nearly all the inhabited parts of Canada, the most important exception being the prairie region, but, even here, the deficiency is overcome in many parts by a wealth of glacial field-stones. In many parts of the country, also, the accessible stone is of a quality so poor that brick is more generally used. There is a great difference, however, between stone that 'may be used' and stone suitable for buildings of a monumental type or even for 'trimmings' on the better class of dwelling in the cities and towns. It is in the latter sense that the expression 'building stone' is commonly used. Thus restricted the term includes varieties of sandstone, limestone, and granite, using the latter word in the custom of the quarryman, not only for the true granite of the geologist but for many other igneous rocks as well. Building stone of high quality grades imperceptibly into stone suitable for monuments, particularly in the case of the granites. The present review will deal with building and monumental stone in this restricted sense and will omit marble, although that material has been used to some extent for building. For instance, the Great West block in Winnipeg is built of marble from British Columbia.

Jan 1, 1925

By Rick Hyndman

? Context: Ø Global action on climate change ? The situation of trade-exposed industry sectors ? The federal government?s draft plan for industry ? CAPP?s position ? Canadian emissions & Canada?s Kyoto target Simple Economic Theory of Dealing with Externalities ? Put cost on emissions Ø Carbon tax Ø Emission trading with auctioned permits ? GHG costs get reflected in the prices of energy alternatives, goods & services Ø Decisions driven by changes in relative prices ? Switching to lower emission fuels ? More energy efficient ways of producing ? More energy efficient appliances, cars, housing ? Reduced demand for energy intensive goods & services ? Anticipation of higher CO2 price drives low CO2 technology Development

Nov 1, 2002

By K. J. K. Weglo, M. U. Savich

"At the Falconbridge Limited, Canadian Nickel Division, Sudbury Operations, we investigated the ""NO NOISE"" ear muffs model NN3-F which is a Swedish product with foam-filled sealing rings (the Hellberg Standard Volume Hearing Protector). It is used extensively at Falconbridge mines in Sudbury.The research which was carried out in the four Falconbridge mines was conducted under three different headings: manufacturer's attenuation data (psychophysical method), clamping force and head size (bizygomatic diameter), and attenuation tests (physical methods) under working conditions.Manufacturers of hearing protectors claim their products offer noise reductions of 23 decibels (NRR) or more, but they fail to point out that this reduction is obtainable only under ideal conditions. The reality of attenuation under working conditions, as several studies have found, is quite different.Methods for using short measurements to determine the noise exposure index, and for controlling muff-wearing habits, were developed at the Elliot Lake Laboratory. Measurements taken at Falconbridge on ""NO NOISE"" ear muffs revealed that they have a practical attenuation of some IO to 13 decibels. It is important to note here that measurements also revealed that clamping force (thus attenuation) was in an inverse relationship with ear muff comfort. Measuring attenuation using noise dosimeters was a difficult job. Not a single surveyor would accept these measurements (physical method) for absolute accuracy. Apart from that, it was impossible to measure, in one shift, more than two work stations. Because of this, we sought a solution: measuring head size and clamping force in relation to actual attenuations.A detailed analysis of the relationship between attenuation and head size/clamping force was done at four mines. Standard deviation ellipses (standard error ellipses) for head size versus clamping force are in close agreement with measurements that were carried out. In order to measure clamping force an apparatus was constructed and a method for measuring suspension system durability is described in Appendices Band C of this report. At the same time we sought to reduce deterioration of ear muffs in mines as well as to put in place a system whereby attenuation can be controlled and improved. The clamping force apparatus can be operated automatically. The proposed control system is quick, simple and efficient . This system is equally applicable in small and large mining operations, and it can be totally automated and the data computerized for audit of the results. This control system is a new step in controlling ear muff attenuation in working environments.From these measurements of NN3-F ""NO NOISE"" muffs it can be concluded that ear muffs are not the total solution to protect the worker from noise.As the results were evaluated folio wing measurement, Falconbridge switched from the NN3-F ""NO NOISE"" muffs to approximately 90% Mark V ""NO NOISE"" muffs and 10% Mark V MSA muffs. These new muffs showed much better head size versus clamping force relationship and can be expected to produce 14 dBA or better attenuation of noise. RESUMEUne étude des casques antibruit ""NO NOISE"" modèle NN3-F, de fabrication suédoise, avec anneaux d'étanchéité en mousse (dispositif de protection contre le bruit ""Hellberg "" pour volume ordinaire)a été effectuée Ii la Falconbridge Ltd. , Division canadienne du nickel aux installations de Sudbury . Ces casques sont largement utilisés dans les mines de la Falconbridge Ii Sudbury.Cette étude aeu lieuen milieu de travail dans les quatre mines de la Falconbridge sous trois rubriques différentes soit: les données d'atténuation du bruit du fabricant (méthode psychophysique), la force de serrage et la taille de la tète (diamètre bizygomatique), et les essais d’atténuation de bruit (méthodes physiques). Les fabricants de dispositifs de protection contre le bruit prétendent que leurs produits offrent une réduction du bruit s'élevant Ii"

Jan 1, 1986

By M. J. Davie, D. S. Ross

"The successful design of a new mine water pumping system is in part dependent upon the accuracy with which the operating conditions can be forecast. This paper outlines the data which should be obtained on water quantity and quality. Methods of modifying the quality are also discussed. Some pumping systems for disposal of sludge are described, citing operating examples. The various types of mine dewatering pumps are described in terms of design characteristics as they affect operating efficiency and installation and maintenance costs. Piping system parameters are outlined. Finally, a hypothetical case study of pumping from a depth of 3,000 ft is assessed, with particular reference to capital costs.IntroductionMany mine operators would agree that the pumping system usually receives a low engineering priority during the design stage, and as a consequence causes some of the most frustrating problems during production. For a ""dry"" mine (up to 200 gpm), design of the pumping system may indeed be simple, but outside of the potash industry such mines are not common. For ""wet"" mines, the pumping system is important because it significantly affects the initial capital and on-going energy costs of the mine and, in the area of sludge disposal, the working conditions and production costs. Indeed, a failure in the pumping system usually has serious, and sometimes disastrous, consequences.The intent of this paper is to outline the factors which should be considered in the design of a pumping system and to describe the types of pumps used in mine dewatering and relate them to practical operating systems."

Jan 1, 1980

By R. D. Mollison

"Ecstall Mining Limited was formed to operate the Kidd Creek mine, discovered by Texasgulf Incorporated in 1961 the orebody is geologically very complex, containing rich values of zinc, copper, silver and lead. The first phase of the operation involved an open pit, railroad and concentrator complex, which was under construction in 1965 and began operations in late 1966. The open pit, with rim dimensions of 2,000 by 1,000 feet, was computer-designed and highlights excellent wall control and efficient ore extraction and grade control. The railroad was built over the worst type of muskeg country, but it has been well maintained, resulting in an uninterrupted supply of ore in the trains. The 10,000-tpd concentrator, located 17 miles from the mine, is highly instrumented and automated. It features computer control of reagents and, in addition to the copper, zinc and lead flotation circuits, has a modern gravity tin plant. The concentrator is large, because very fine grinding is required for good metallurgy and nearly 2,500 tons per day of concentrates are produced. In 1969, work was started on the underground mine to take over from the open pit; it began partial production in mid-1973. The mine is highly instrumented, has a ramp from surface, a high-production shaft, an underground gyratory crusher and an efficient orehandling system, and employs the latest mining techniques. The electrolytic zine plant, rated at 120,000 tons of slab zinc per year, started operation in April, 1972, with batch leaching and purification circuits. It has been converted to continuous leaching and is now in the process of converting to continuous purification. Further modernization and automation will be carried out in the next few years. Five service departments support the five operating departments. These are maintenance, engineering and technical services, geology, administration and employee relations. How these ten departments function and work together using the most advanced technology to produce an efficient operation is the main theme of the Ecstall Story."

Jan 1, 1974

By M. Mirnezami, J. A. Finch

The McGill component of the consortium contributed detailed examination of the electrokinetic properties of the constituent minerals, primarily pentlandite and serpentine. Mineral specimens were derived from an ore sample; mineralogical examination showed the serpentine was predominantly clinochrysotile, a fibrous mineral responsible for much of the flotation separation problem. The study included design of a novel sedimentation potential measuring device to classify the surface charge of the ore and electrophoresis measurements on single and mixed minerals which progressively approached flotation conditions. The sedimentation potential measurements provided a general association between surface charge and the visual state of aggregation as a function of pH. The electrophoresis experiments started with single minerals in a background of indifferent electrolyte and progressed to mixed minerals in a background of supernatant derived from an ore sample. The single mineral tests supported the suspected electrostatic interaction, i.e., hetero-coagulation, at flotation pH 9-10. The mixed mineral tests demonstrated this interaction and also revealed hetero-coagulation with Mg(OH)2 precipitates, derived from the supernatant. This interpretation was confirmed by optical and electron beam imaging. A series of agents, CMC, polyphosphate, soda ash, EDTA, were examined to disperse the system. To accommodate the small mass of single mineral available a novel turbidity measurement using a UV/Vis spectrophotometer was introduced. Selected conditions were used in contact angle and small-scale flotation tests.

Jan 1, 2011

By K. Winterton, Carruthers. J.

"Attempts have been made to produce hardened structures of a pseudomorphic type in various carbon and alloy steels. In order to obtain martensite with a fine distribution of cementite, an initial structure of fine lamellar or nodular pearlite is required; this may be obtained by conventional means. This is followed by partial austenitization and quenching.Two methods have been tried to induce partial austenitization:(a) A resistance (direct current) heating method involving rapid entry into the austenite field.(b) A new method, described as the ""threshold"" technique, involving homogenization of temperature just below A 1, followed by entry into the austenite field; two furnaces are required.The resulting structures have been examined for microstructures, hardness, tensile, and impact values. The tensile properties are comparable with those obtainable by conventional treatment methods. Impact values are disappointing, but this is explainable from the nature of the manifold changes occurring."

Jan 1, 1960

By B. G. Hunt, E. J. Kwasney, W. P. Campbell, S. L. Gertsman

"AbstractIn the separation of lead and zinc concentrates from the ore from Cominco's Sullivan mine at Kimberley, • B.C., an iron sulphide concentrate is also produced, some of which is roasted to provide sulphuric add for the manufacture of phosphate fertilizer. The iron oxide calcine from the roaster is potentially a valuable raw material for the production of pig iron and steel. To evaluate this material, six tons of .pig iron was produced from it in an experimental 75 k.w. electric furnace at Trail. The pig iron alone, and also in varying proportions with structural steel scrap and commercial pig iron, was used in the production of basic electric furnace steel at the Mines Branch Laboratories, Ottawa. Details are given of the steel making and fabrication procedure, of the visual and microscopic examination, and of the extensive series of tests on the steel produced. The steel produced using Cominco .pig iron in the charge showed normal working properties in all tests carried out.IntroductionTHIS PAPER describes (a) experimental work by The Consolidated Mining and Smelting Company of Canada, Limited ( Cominco), at Trail on the production of pig iron .from Sullivan iron concentrates, and (b) a joint laboratory investigation by Cominco and the Mines Branch, Department of Mines and Technical Surveys, Ottawa, to determine the feasibility of making a satisfactory steel from this pig iron."

Jan 1, 1955

By Rajiv Kalra

This paper reviews the following aspects of the world?s largest manufactured Grinding Mill?s in terms of diameter and power, along with the world?s biggest shop assembly and trial run of the mills delivered to Sino Iron Magnetite Project in Australia. 1. An overview of the basic flow sheet of the Sino Iron (Magnetite) Project located in Australia 2. An overview of in-house designed CITIC Heavy Industries 12.2 m (40ft) F x 11 m(36ft) LG ? 28MW AG mills including FEA and major components 3. In-house manufacturing at CITIC-HIC work in Luoyang China of all major components for 6 off Ø12.2 m(40ft) AG mills and 6 off Ø7.9 m(26ft) x 13.6 m(44.6ft) LG-2 x 7.8 MW Ball Mills 4. Major aspects of design and preparation of the biggest shop trial run of Ø7.9 m(26ft) x 13.6 m(44.6ft) LG Ball Mill witnessed by international EPCM?s and clients in July 2009. 5. Major aspects of one piece assembly of 1300 tonne rotating element of the Ø12.2 m(40ft) x 11 m(36ft) LG AG Mill and Ø7.9 m F (26) x 13.6 m(44.6ft) LG Ball Mill at the port of the export China and transport to Australian Port and then to site. 6. An insight to unique installation methods used for Ø12.2 m(40ft) and Ø7.9 m(26ft) rotating element lifting on the mill foundation in one piece assemblies. 7. CITIC Heavy Industries present capability for in house design and manufacture of Grinding Mills up to Ø13.7 m (45 ft) with 35 MW Gearless drives and Ø12.2 m(40ft) with 2 x 10 MW Geared Mill drives

Jan 1, 2012

By D. Sharma, A. K. Singh, R. Singh, P. K. Mandal, M. Sarkar

"This paper deals with the stability investigations carried out at the XIVth seam of Jitpur colliery. The study was conducted to investigate the possible causes of roof cavity formation and face spalling at the middle slice face of block-3 longwall panel and to suggest remedial measures. The instrumentation and monitoring work was carried out in the panel over a period of nine months. On the basis of observations, it was found that if the maximum face span was reduced from the existing 4.8 m to 3.6 m, and if the face time schedule cycle was reduced from a maximum of 37 days to about 18 days, this problem could be eliminated. The recommendations of CMRI have been implemented in the middle slice face of block-4 panel with success. IntroductionModerate to steeply dipping, undisturbed seams of uniform thickness are worked by way of inclined slicing parallel to walls. In this method, the seams are treated as a combination of several moderately thick seams dipping parallel to roof and floor. Numerous variations of multislice mining have been used worldwide to get high coal recovery under local conditions of geology, subsidence control, proness to spontaneous combustion, statutes and economics. Multislice mining can proceed either downward descending from the roof or upward ascending from the floor. Ascending methods require backfill behind the working face to provide a base for the next slice. It is also adopted for surface protection against subsidence or mining under a massive roof. This paper presents a scientific study conducted in Jitpur colliery, IISCO where a 9 m thick seam is mined in three slices in ascending order with stowing."

Jan 1, 2002

By C. L. Reichardt

"Pressure exerted on gold producers by regulators, project financiers, and civil society in the wake of the Baia Mare tailings spill in Romania during 2000 prompted most responsible gold companies to sign up to the International Cyanide Management Code for the Manufacture, Transport, and Use of Cyanide in the Production of Gold (the Code). The Code stipulates a ‘cradle to grave’ approach more comprehensive than that applied to any other mining reagent and poses particular challenges for operators who use cyanide-bearing tailings for backfill. This paper examine some of the challenges for Code compliance facing deep underground gold mines that employ backfill technology, most particularly the requirement to demonstrate that the potential migration of cyanide (and its degradation products) from emplaced backfill will not have an unacceptable impact on worker health and safety or on the receiving environment, either during mine life or after closure.Although the Code only contains a single reference to backfill, more careful consideration confirms that most sections of the Code that deal with tailings management are potentially applicable to mines where tailings material is used for backfill. Certain principles of the Code also pertain to aspects of operations, worker safety, emergency response, training, and dialogue with stakeholders relating to backfilling practice.For gold mines of the Far West Rand, the most significant cyanide-related risks associated with backfill operations relate to worker exposure to cyanide-bearing seepage and HCN gas. There is potential for seepage of cyanide-bearing water from backfill to compromise the beneficial use of surface and groundwater, and thus impact on downstream users and ecosystems. However, the extreme depth of mining and the specific geological and hydrological controls on the Far West Rand suggest that the potential environmental risks associated with backfill are likely to be considerably less significant than the cyanide-related risks to the workforce."

Jan 1, 2007

To create a successful growth oriented diamond company that succeeds in the practical business of mining and selling rough diamonds, and which pursues an aggressive exploration strategy to seek and develop worldclass diamond mining opportunities in a market that has become increasingly under-supplied.

May 1, 2008

By L. E. Djingheuzian

Introduction For many years the immense deposits of bituminous sands of northern Alberta have been attracting the attention of our governments, engineers and .scientists ( 6). Undoubtedly these bituminous sands represent one of the greatest potential resources of liquid fuels in the world. However, their commercial development has been retarded by the complexities of the technological problem and by the economic factors involved in the processing of the sands. The technological problem has been attacked from several angles ( 2, 3, 1, 11), and cold water separation of bitumen is one of them. To the ore dressing engineer, the cold water process is of utmost importance since, by the use of standard ore dressing machinery, it accomplishes most efficiently and economically the separation of bitumen from bituminous sands. The significance of using ore dressing equipment was especially enhanced by the fact that the scientific principles which underlie the design of standard machines were demonstrated in the cold water separation process with an extraordinary clarity. This greatly facilitated the analysing of limitations and advantages of different machines during-the pilot plant investigations and helped to complete the investigations practically in the allotted time.

Jan 1, 1952

By N. T. Avard

THE profitable disposal and utilization of much of our slack coal, lignite, and other low-grade fuels is one of the major problems facing the coal mining industry of Canada today. It is my belief that the pulverization process applied to these fuels opens the door to greater efficiency and greater prosperity, and I wish to discuss briefly with you some features of its development and advantages to date. Indeed, the art of burning pulverized coal under stationary boilers is one of the romances of modern engineering. As a Nova Scotian, I feel some pride in the fact that at Chignecto Mines, N.S., was built in 1906 the first pit-mouth power plant on the North American continent. This was built to make effective for the first time Edison's dream of carrying coal for power by wire rather than by rail. This plant, built by the Maritime Coal, Railway and Power Company, Limited, success-fully utilized underfeed stokers for twenty years but in 1927 was replaced by a more modern plant equipped with machinery for burning pulverized coal, which is now operating very successfully. A further source of pride is the fact that the first boilers on this continent to be operated by pulverized coal were installed by the Dominion Coal Company at New Waterford, N.S., in 1912 and were satisfactorily operated during the lifetime of the plant. It is an acknowledged fact that average living conditions on a large part of the North American continent are far superior to those of any other people on earth. The reason is that we use so much more machinery per capita, and cheap power supply has been a large factor in bringing that about. Statistics show that where one horse-power was used one hundred years ago to assist man in his work, five hundred horse-power is used today. Truly a remarkable development and the key to our present high standard of living. Lack of coal in the chief industrial centres of Canada has forced the extra-ordinary development of the water powers which Providence has placed in those centres. How many of us realize that Canada stands second in the world in the per capita development of hydro power, Switzerland being first and the United States sixth? From this condition, we are reminded of the fact that the per capita foreign trade of Canada far exceeds that of our great neighbour to the South-but another illustration of the benefits accruing from our great power development.

Jan 1, 1937

By Karl J. C. Harries

"2.1. INTRODUCTIONNo agreement can be perfect in the sense that it contemplates and provides for all eventualities. Mineral acquisition agreements are usually negotiated and drafted at a time when an orebody is no more than a gleam in a geologist’s eye, so it is hardly possible to provide for development and operation in other than the most general terms. However, an agreement that stops short of contemplating the possibility of an orebody and production is ill-advised. Accordingly, it is important to provide procedures to make decisions that will let the project proceed, even in the face of a fallingout between parties. Whether the parties are shareholders in a corporation or venturers in a contractual common undertaking like a joint venture, differences of opinion and disputes will occur. Unfortunately, more and more are ending up before the courts. Besides greed and the growing tendency in society to fight rather than talk, there are other factors that contribute to the increase of litigation. In some jurisdictions, agreements have tended to become complicated, often defying interpretation, even by a lawyer, and explorationists want their budgets to go into the ground as constructive work rather than into a lawyer’s pocket. All this has led to a growing tendency for corporations to take the attitude that the chances of finding a mine are, at best, marginal and there are lots of earlier agreements in the files to draw from, so why not prepare their own agreements? As discussed in the preceding chapter, this can be folly. All these factors can quickly have parties facing each other in court while a project sits idle. Added to this is the problem that, in some jurisdictions, lawyers may take cases on a contingency-fee basis, sometimes promoting the pursuit of a nebulous claim.When an orebody is discovered, someone will always want some, or more, for himself. There is a breed of “prospectors” who prospect for legal actions, on the somewhat sound grounds that a major corporation will buy off nuisance litigation, rather than incurring the cost and effort of attacking even a poorly founded claim in the courts. They may even find a winner. Besides, it is far more comfortable and relaxing to prospect for problems and legal niceties than to prospect for an orebody.1 In short, it is appropriate to consider briefly some of the factors relating to lawsuits and judgments. Although many of the comments are made in the context of the common law and the Canadian legal system, most of the concepts and suggestions are applicable to any legal system."

Jan 1, 2003

By H. G. Rushton, A. S. Romaniuk

"The opening chapter of this volume, by A. Ignatieff, places in perspective Canada's coal resource base as part of the world scene. This chapter will focus on the Canadian scene.Units of measurement in this report are in the International System of Units (SI) as approved for official use by the Canadian Standards Association and Metric Commission Canada. These units have been adopted by the Mining Association of Canada and the Coal Association of Canada. To assist with the shift to metric units these two associations have published ""Metric Practice Guide for the Canadian Mining and Metallurgical Industries"", 1978(1J, Appendix ""A"" lists some useful conversion factors along with SI prefixes. The last official assessment of Canada's coal resources and reserves was done by the Department of Energy, Mines and Resources and presented in Report ER 79-9 ""Coal Resources and Reserves of Canada"", published in December 1979 and authored by H.U. Bielenstein, L.P. Chrismas, B.A. Latour and T.E. Tibbetts(2). The Geological Survey of Canada has a continuing project concerned with coal resource assessment as does CANMET, whose concern is with coal reserve assessment and coal quality. As well, Alberta's Energy Resources Conservation Board (ERCB) has a continuing assessment program for coal in Alberta and publishes an annual reserves report, the current issue of which is cited as reference No. (3). The difference in resource and reserve terminology as used by EMR and ERCB has a major effect on derived tonnages for Alberta. This difference will be discussed later. In 1982 the Department of Energy, Mines and Resources produced a map titled ""Canada-Coal""<4J which outlines coalfields and illustrates coal import and export movements for the years 1981and1980. A copy of this map is contained in the map pocket of this publication. Two other resource assessment reports are noteworthy, the first is ""Coal Resources of Southern Saskatchewan: A Model for Evaluation Methodology"", by J.A. Irvine, S.H. Whitaker and P.L. Broughton<SJ which is one of the major outputs of a joint federal-government study of southern Saskatchewan's lignite deposits. (Another output from this same study' is the Geological Survey of Canada's SASCO file, a computer processable file holding borehole and coal quality data.) The second is ""Deep Coal Resources of the Interior Plains, Estimated from Petroleum Borehole Data"", by G.D. Williams and M.C. Murphy(6) which identifies coal resources from nearly 4,000 petroleum exploration boreholes distributed uniformly over an area spanning Manitoba, Saskatchewan, Alberta and British Columbia."

Jan 1, 1985

By V. Polotski

Initiated and financed by the Canadian Space Agency, Micro-Rover Platform with Tooling Arm (MRPTA) project has targeted the development of a robotic system with remote control and autonomous navigation capabilities for testing a large variety of analogous planetary missions. Although developed for planetary exploration, the navigation system is highly suitable to such areas of application as construction and in mining. Autonomous navigation system is capable of moving the platform to predefined position(s)/orientation(s) while continuously mapping the terrain, assessing its traversability and choosing most appropriate path to follow. Designed according to the JAUS (Joint Architecture for Unmanned Systems) framework, the system consists of several interconnected components. Following components are of particular importance: Pose Estimator (PE), Terrain Evaluator (TE), Map Manager (MP), and Path Planner (PP). The PE uses a minimal sensor configuration consisting of an azimuth gyroscope, inclinometer and wheel odometry. The PE provides reliable pose estimates in spite of pronounced slippage by employing extensive use of fused data. The TE uses a nodding laser scanner which continuously sweeps the area in front of the platform and constructs a ?traversability grid? (TG) of the surrounding area. Multiple TGs are constantly constructed along the platform motion path are combined into a terrain map maintained by the MP. The PP uses this map to compute a motion path Obtained path is executed by the motion controller and remains current until it is contradicted by the most recent map ? at which point it is re-planned. This paper addresses integration issues, lessons learned and also outlines the possible applications for construction and mining.

Aug 1, 2013

By Corinne Boone

CO2e.com, LLC - launched in November 2000 - aims to be ?the global hub for carbon commerce.? CO2e.com is a subsidiary of the Cantor Fitzgerald Group, one of the world?s leading brokerage firms Recent Investor in CO2e ? Mitsui & Co. Alliance with Cantor Fitzgerald Environmental Brokerage Services Group (CFEBS) Offices in London, Toronto, Tokyo, New York, San Francisco, Los Angeles, Connecticut, Houston Primary Goals/Benefits of ET § Goals of Emissions Trading: ? Permit Industrial Growth/Expansion ? Promote Economic Efficiency and Flexibility in Meeting Air Pollution Standards § Benefits of Emissions Trading: ? Enhance Air Quality w/o Economic Stagnation ? Encourage Development of New Technology ? Foster Most Efficient Use of a Limited Resource -- Clean Air § Contributes to Sustainable Development and objectives of UNFCCC, Kyoto Protocol?.

Nov 1, 2002