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By Gaoming Wang

Outline 1. The Gangdese porphyry Cu-Mo belt 1.1 Regional geological background 1.2 Cu-Mo-bearing porphyries 1.3 Mineralization and alteration 2. Dating methods and results 2.1 Qulong porphyry 2.2 other porphyries 3. Geodynamic implications 4. Conclusions 5. Acknowledgements

May 1, 2004

By Rebecca L. Jones

The paper addresses the application of XPAC AutoScheduler at the Fort Hills Energy Oil Sands Project to complete fast turn around ?what if? scenario testing of different mine schedules. Traditional scheduling approaches involve engineers making a ?best guess? at the required mining sequence, loading this sequence into a scheduling package and testing the results to determine if the schedule meets corporate objectives. This process is iterative and can be very time consuming. Autoscheduling techniques, on the other hand, are based on the engineer pre defining the mining rules and constraints of the deposit. The software then automatically selects a sequence of mining which the schedule should try and achieve, based off specified corporate objectives. Under this system the engineer is able to adjust the objectives and rules to evaluate numerous scheduling scenarios quickly and easily. An XPAC AutoScheduler model was built, documented, and implemented by Runge and Petro-Canada Oil Sands Inc. personnel in a month. It is currently being used by Petro-Canada Oil Sands Inc. to run multiple schedule scenarios, most taking less than ten minutes configure and ten minutes to schedule. The results of each schedule are tabulated with supporting graphs on; the bitumen grade profile, strip ratio, ore inventories and mined tonnage. In addition to this, the block model may be animated to show the progression of the resources mining the schedules.

May 1, 2008

By N. Razavinia

Most mining and metallurgical industries produce relatively large quantities of low grade waste heat which they vent, for the most part, to the environment. To date, little is being done to recover some of this heat and transform it from low grade to a high grade energy form such as electricity. A few decades back this was also true of paper, plastics and metals. Recycling was not a prominent activity. Today, we all know that it is and that recycling is a must for sustainable development. To this end, we feel that we are now at that point in time when the recycling of waste heat to electricity must be given serious consideration. By recycling waste heat one can achieve at least one if not two of the following benefits: 1) reduction in the carbon footprint ? by improving the overall energy efficiency of a process, and 2) production of electricity at an economically viable cost. We have developed a process that captures, concentrates and converts (3 C?s) waste heat to electricity. The process comprises 3 distinct interacting units. The first unit captures and concentrates waste heat using heat pipe technology. The second unit converts some of the concentrated heat to mechanical work which can then be readily converted to electricity. This unit is based on the classical piston/cylinder engine arrangement that is widely used by consumers to power systems with compressed air, for example. The third unit of the process dissipates the heat that the engine cannot convert to high grade energy. It also uses heat pipe technology to achieve this. The combination of the 3 units forms a unique system for recycling waste heat. This paper describes the system and it presents some results that show how the system can be made to be economically viable.

Aug 1, 2013

By M. Silva, G. Olivares

In a leach pile, the drainage layer or commonly known as the cover layer has been a matter of discussion due to the multiple phenomena or events that occur within it which impacts negatively the leaching process. All these events are directly related to the loss of draining capacity and irregular flow net due to an excessive compaction and entrapment of fines reducing the flow velocity which in turn cause more fines to get trapped. Over time the problem will continue to worsen rapidly and accelerating continuously like a geometric progression. When the cover layer gets to a certain level of deterioration, the only alternative to continue operating safely is to replace the entire cover material, a huge cost for any mining operation. TESRA has developed a solution to counteract the accelerated advance of the deterioration of the drainage layer. The solution consists of using large agricultural tractors coupled to a proprietary design of a heavy- duty subsoiler-ripper for deep tillage for loosening and breaking up the ground at various depth and with different legs spacing from 0.4 m or above. Also, if the ground still requires additional breaking, TESRA proposes the use of a rototiller that breaks any lumps to homogenize the ground to a certain particle size. With the subsoiler-ripper/rototiller combination equipment a layer of 0.5 m deep is properly treated to match closely the original conditions of the ground thus regaining the flow net as close as to the original seepage condition. Once the ripping is completed the subsoiler-ripper tool is replaced with another that is similar to a plow and thus continue with the installation of drainage pipes. The tool digs a Y-type profile trench allowing the pipe to sit precisely at the bottom of the trench, contributing additional lateral and lower support. This tool controls the installation depth of the drainage pipe at different inclination grades and also eliminating any irregularities that may block the flow of the leaching solution. Sometimes the obstructions block completely the flow of the solution. The main result of this methodology is the reduction of groundwater levels and at least 2% less humidity in the leaching gravel due to an increase in the draining capacity of cover. The methodology developed by TESRA applied during a couple of cycles of a dynamic leach pile has proven to be a real alternative to remedy and recuperate the cover close to its original conditions. The methodology requires only one large tractor and two accessories operated in different stages while replacing the more traditional and less efficient machinery such as the Bulldozer, Motor-grader, and backhoes.

Jan 1, 2019

By Michael L. Free, Shukla. Abhijeet

The short-circuiting tendency of a copper electrowinning cell (EW) based on the roughness of cathode deposits was investigated with varying parameters such as Cu concentration, guar concentration, current density, and temperature. A bench scale EW cell was set up to produce copper under conditions similar to industrial Cu EW. In addition, a statistical analysis and finite element analysis were performed to analyze the deposited thickness, surface roughness and maximum feature height. Interaction data for the cathode deposits suggest that current density and Cu concentration together affect the roughness of deposit more than the combined effect of guar and temperature. Model predictions of roughness were similar to experimental values. The predicted time to short-circuiting was similar to the measured time. This study provides an industrial relevant baseline against which new operating parameters can be compared.

Jan 1, 2014

By C. W. Chao, M. Melashvili, F. Hilário

The processing of a bulk concentrate containing copper as chalcocite, enargite, bornite and chalcopyrite along with pyrite and precious metals of silver and gold was studied. A leaching study was undertaken to examine the application of the atmospheric acid leaching process to a bulk copper concentrate for copper recovery followed by cyanidation or thiosulfate leaching for gold and silver recovery. The extraction of copper exceeded 90% under some conditions and the recovery of gold and silver reached a maximum of 44 and 45%, respectively. A sample of bulk concentrate was roasted in air to oxidize the sulfides with release of sulfur dioxide followed by acid leaching of the roaster calcine and cyanidation of the acid leach solution. The copper extraction reached over 92% and the gold extraction exceeded 88%. The sulfur dioxide may be captured for acid production. INTRODUCTION The processing of a large primary copper deposit in Indonesia is under investigation. One of the possible routes for processing involves flotation of a bulk copper-gold concentrate followed by treatment by an atmospheric leach/SX-EW process for copper recovery. The atmospheric leach residue would then be leached for recovery of gold and silver. A second route involves roasting of the concentrate followed by acid leaching and SX-EW for copper recovery. The leach residue from the roaster calcine would then be leached for recovery of gold and silver. The roaster off-gases could be used for sulfuric acid manufacture, enabling the production of a valuable by-product. The Cobre Las Cruces (CLC) process (Munoz, Garcia, & Delgado, 2017) was designed to treat a resource of copper discovered close to Seville, Spain. The process was developed by Outotec with MK Gold (original project owner). INMET Mining subsequently purchased the deposit from MK Gold and built the copper processing facility. The CLC process is similar to the Mt. Gordon Copper process; except that OKTOP reactors have been installed instead of a low temperature, low pressure autoclave process. The plant was designed to treat 1.3 mtpa of ore at a grade of 6.2% Cu to produce 72,000 tpa of cathode copper over a 15 year project life. The main gangue mineral at Cobre Las Cruces was pyrite. The Cobre Las Cruces ore is therefore similar to a rougher flotation concentrate containing copper minerals and pyrite. The roasting of a rougher flotation concentrate can be designed to produce hematite, basic copper oxides and sulfur dioxide off gas. The acid leaching of the basic copper oxides may produce soluble copper for SX-EW recovery of copper. The sulfur dioxide off-gas may be used to make sulfuric acid.

Jan 1, 2019

By S. Kobayashi, N. Ohara, T. Aoki, S. Sakurai, M. Iwano, M. Shimo, I. Otsuka

"This project is the upgrading of a commuter line of approximately 76 km to improve the railway system in Istanbul metropolitan area. Railway tracks have been connected between Asia and Europe through a tunnel under the Bosphorus Strait. The length of these underground structures sums up 13.6 km. In this paper, the observational construction management based on field measurement performed at large scale underground railway station (Sirkeci station) constructed by means of New Austrian Tunneling Method (NATM) is described and the mechanism for generation of ground surface settlement above this station is discussed.Buildings above Sirkeci station are overcrowded. About 60% of the buildings are made of reinforced-concrete (RC) and others are of brick. Based on the investigation into the predicted settlement and inclination, necessary actions such as structural reinforcement and soil improvement have been conducted for dilapidated buildings.Rock mass around Sirkeci station consists of alternative strata of sandstone and mudstone. It is overall soft rock with an elastic modulus of 150 MPa, partly including fractured zones. Overburden is about 30 to 40 m. The thickness of unconsolidated sand layer distributed on the bedrock is about 10 m. As a result of in-situ permeability tests, the coefficient of permeability of the sand layer is about 1.0x10-3 cm/s. Fill layer of about 10 to 25 m in thickness covers the sand layer at the ground surface. The fill layer contains a lot of artificial waste like splinters of wood, brick chips and mortar chips, etc. in addition to gravel, sand, silt and shells. The coefficient of permeability of fill layer is estimated to be 1.0 x10-2 cm/s, which is one-order greater than that of the sand layer. Fill layer consists of ancient city ruins of ages respectively from the Eastern Roman Empire, the Byzantine Empire and the Ottoman Empire and has a lot of gaps.The underground part of the Sirkeci station was excavated through a ventilation shaft. Ground surface settlement occurred more than predicted. Therefore, back analyses were performed in order to precisely predict the next-step settlement. However, back analyses with elasto-plastic models could not simulate the actual phenomena and hence, an anisotropic-damage-parameter model developed by Sakurai (1999) was adopted for the back analysis. Furthermore, as the excavation of tunnel proceeded, the ground surface settlement exceeded the predicted value again. Based on the monitoring results, it seemed that pore water pressure decreased by the tunnel excavation resulted in the soft rock and soil to be contracted due to the increase in the effective confining pressure. A coupled hydraulic-mechanical analysis was applied to explain the relationship between decreased pore water pressure and ground surface settlement. The settlement due to drainage from tunnel wall was well-estimated in the coupled hydraulic-mechanical analysis.However, further settlement occurred more than predicted again and again. Though it was very difficult to clarify the reason of the large settlement, it was recognized that the unexpected ground surface settlement resulted from the existence of the large gaps in the fill layer that was greatly compressed. The final settlement reached up to 327 mm."

Jan 1, 2015

By Adam Turcotte

Mining operations consume a considerable amount of energy, and while reduced energy consumption is desirable, it is not always clear how to achieve this goal. Understanding the opportunities to optimize energy consumption is crucial, and the key to understanding is visualization. One option is the Sankey diagram, which has been used for over 100 years to visualize the flow of energy, materials, or cost through various processes. However, there are drawbacks to this approach that must be addressed. In a Sankey diagram, each flow is represented by an arrow possessing a width proportional to the magnitude of the flow it represents. The diagrams show input flows, how energy is converted and into what form, and also output flows. As per the first law of thermodynamics, the total energy output is equivalent to the total energy input, so any energy that is not transferred to another process is considered to be wasted. These waste flows are depicted in Sankey diagrams and make it straightforward to associate energy sources, sinks and waste flows. Unfortunately, Sankey diagrams do not convey all information required to support practical decision making for redirecting individual energy flows. Based only on a Sankey diagram, it may become evident that a significant flow of waste heat is of the appropriate grade (temperature) and volume to meet an on-site heat demand currently being met with paid-for, possibly carbon intensive fuel. However without augmenting the Sankey diagram with 3D spatial, true geometric analysis, the practicalities of the concept or idea may not be fully appreciated. Another issue with a Sankey diagram is that the magnitude of the energy flowing between processes may have temporal fluctuation or variability on different timescales (diurnal, seasonal, interannual). Currently, Sankey diagrams only provide a static picture of energy conversion and consumption, so that, for example, 4 separate diagrams could have to be prepared for each season. A new energy flow visualization technique which we have called Sankey Trees has been developed. Process locations are defined within a 3D model of the site being studied, and the magnitude of the flow between each pair of processes considered is replaced with a time series. Branches of sustained and diminishing flows are represented through variation of the geometric properties of the branches of the trees. These branches are animated to indicate the direction of flow, and branch joints are used to indicate that a process is transporting one form of energy to multiple processes.

Aug 1, 2013

By B. Zhu

With the challenge of clearing steel production and increasing of the productivity of converter, the application of hot metal pretreatment technology in torpedo car become a key process in the steelmaking. In this article, the technologies, production and development trend of Al2O3-SiC-C bricks for torpedo cars in China are reviewed, the current application situation and main requirements for the Al2O3-SiC-C bricks are also addressed.

Jan 1, 2004

By Don Ritz

Smart leaders focus on safety even in tough times. Businesses that retreat into survival mode and ignore safety do so at their peril, risking loss of employee and stakeholder confidence and exposing themselves to financial and reputational loss they can ill afford. It?s a moment of truth when employees and stakeholders learn whether safety is truly your priority or just a convenient cliché for good times. Visionary leaders who build safety culture even in a downturn maintain people?s trust, prevent loss, and position the organization for enhanced success as times improve. Safety is the right business focus in good times and bad.

May 1, 2009

By G. V. Poropat

Roughness of a discontinuity may be an important factor influencing shear strength of the discontinuity. Traditionally, determining the roughness of a discontinuity surface and providing a numerical measure of the roughness has required considerable effort or specialised equipment. The development of new 3D imaging tools that are easy to use has provided effective fast and accurate means of creating 3D surface models from which roughness measurements can be readily obtained. These new techniques are versatile enabling a user to measure roughness along any desired profile and at any resolution up to the limit of the spatial subtense of a measurement on the discontinuity surface. This paper primarily reviews extensions to the use of 3D imaging that enable the measurement of roughness. Additionally we provide some examples of the measurements and examine some of the issues associated with extracting measures from the spatial data that will support estimation of shear strength.

May 1, 2009

By N. Bahrani

Knowledge of the state of stress in the Earth?s crust is very important to the safe and efficient development of underground excavations in mining and civil engineering projects. A number of methods have been developed over the past 40 years to assess the stress field in the rock mass. These range from local estimates derived from compilation of regional stress databases to back-analysis of field observations to dedicated in situ measurements. The Geomechanics Research Centre (GRC) at MIRARCO has a long history of undertaking in situ stress characterization and measurement. In this paper, the stress measurement techniques used by the GRC, including overcoring and undercoring in addition to borehole breakout back-analysis, are briefly reviewed. The limitations and application of each technique for different ground conditions and the challenges involved during the field work and in interpretation of the results are discussed. A successful stress measurement campaign is not limited to acquiring valid local measurement, but must include a careful interpretation and integration of the measurement with other geological and geotechnical context information. Based on our experience, it is suggested that all available stress indicators and data are combined and integrated with the local geological and geomechanical conditions to derive a consistent stress characterization for a given site.

Aug 1, 2013

By G. Guiglionda, A. Deschamps, F. De Geuser, M. Langille, B. J. Diak

"Increased demand for light-weighting in passenger vehicles has created a need for strong, light, ductile materials to be used in body-in-white applications. The AA6xxx-series of aluminum alloys are suitable candidates meeting most requirements but can fall short of the formability demands of designers, necessitating an understanding of what controls the formability in this alloy series. This work examines the effect of copper alloying in AA6xxx on the pre-ageing and natural ageing responses of the microstructure and mechanical properties. The changes in microstructure observed by differential scanning calorimetry and hardness testing are related to the work-hardening and strain-rate sensitivity parameters for these alloys measured by tensile testing. An observed asymmetry in the measured strain-rate sensitivity associated with increasing versus decreasing strain rate changes suggests that a different mechanism operates for the two conditions. It is postulated how this asymmetry in strain-rate sensitivity will impact the necking and ductility behaviour of these alloys.INTRODUCTION The widespread use of AA6xxx series alloys in the form of sheets has provided the need for a more thorough understanding of the complex interactions between composition, processing, resulting microstructure and ultimately, the mechanical properties of the alloys. Conventional industrial practices involve the production of rolled AA6xxx sheet (typically 1 mm thick) to be used for body-in-white (BIW) applications for auto body panels (Hirsch, 2004, 2014). The final metallurgical step prior to the shipment of these panels to manufacturers involves a solution heat treatment (SHT) reverting the ageing products of the alloys into solid solution and the product is then shipped to the customer. During this shipping time and while sheets are waiting to be used, the natural ageing (NA) process occurs whereby the strength of the alloys increases resulting in reduced formability. This can result in a product that is unable to meet the formability demands of the automotive manufacturer. As a result, industry has moved towards performing pre-ageing (PA) treatments to prolong the “shelf-life” of the material prior to it having insufficient formability. Once formed into BIW panels, the parts are then painted and subsequently undergo the paint curing heat treatment which consists of a short period of time at medium temperature, typically 20 minutes at 170–190°C. This short artificial ageing (AA) treatment, known as the paint bake (PB), provides additional strength and improved dent resistance for the material, but reduced formability. The PB result is strongly dependent on the PA treatment performed prior to the forming operation. Furthermore, the addition of copper (Cu) to a base Al-Mg-Si composition is known to increase the alloy’s strength. The goal of this work is to study the effect of Cu on strength, strain hardening, and strain-rate sensitivity (SRS) of these alloys, to understand the strength-formability compromise, for two separate heat treatment schedules; one including and one excluding the PA treatment, both followed by NA."

Jan 1, 2018

By E. F. Evoy

"The Gunnar uranium deposit was within metasedimentary rocks of the late Archaen Tazin Group. These rocks were intensely altered by albitization so that the immediate host to the ore consisted dominantly of albite, and by the subsequent introduction of calcite. The ore consisted of disseminated pitchblende and uranophane in a pipe-shaped breccia zone. Oxidation of the ore was more intense near surface than at depth, but there was no near-surface enrichment.IntroductionThe Gunnar Mine site is on the tip of Crackingstone Peninsula, on the north shore of Lake Athabasca, Province of Saskatchewan, Canada. The peninsula forms the southern part of the Beaverlodge mining area. The ore consisted of disseminated pitchblende and uranophane in brecciated metasedimentary rocks of the Tazin Group, and the deposit was characterized by extreme albitization and subsequent carbonatization of the host environment.Production from the mine began in 1954 and the ore was depleted by 1963. In that interval the deposit yielded about 5 million tonnes of ore containing about I. 75 kg/tonne U3O8. It was mined initially from an open-pit and subsequently from underground; the open-pit contributed about 55% of total tonnage. Uranium was recovered by atmospheric leaching in sulphuric acid, ion exchange concentration, and precipitation with magnesia.This paper is based on studies made during the productive life of the mine and is concerned primarily with pre-ore alteration of the rocks containing the deposit, and with the ore mineralogy."

Jan 1, 1986

By Gerhard W. Heinrich, Gerald V. Schroeder, Daniel A. Murphy, Daniel F. Suarez, Jamie B. Beauchamp

"Washwater 'Finger' sprays were installed and tested in the copper/nickel separation circuit at Strathcona Mill to improve flotation capacities and related metallurgical performances. The new spray design features submerged sideways introduction of wash water into the flotation froth through nozzles at the end of vertical pipes which are suspended from a header above the froth. This maximizes the effective cross sectional area of flotation vessels while maintaining effective froth cleaning and a desirably high density of the concentrate slurry. The plant tests gave increases of copper concentrate production rates of 17% to 20% for conventional cells and 16% to 20% in column flotation at target grades of 29% to 30% copper and of less than 0.5% nickel. Basic considerations and concepts of tests and evaluation procedures are described.IntroductionMeeting flotation concentrate grade targets at maximum production rates and recoveries is a challenge all too familiar to operators of base metal ore concentrators. Frothwashing is an option to improve grade/recovery performance by minimizing entrainment of impurities into the concentrate, which is commonly known since the sixties (Kaya & Laplante, 1989). It has been recommended for the flotation of sulphides and industrial minerals alike (Kaya & Laplante, 1989; Miller, 1969; Heinrich, 1989) and has found its ultimate application in flotation columns (Finch & Dobby, 1990). The washwater addition in a flotation column is most evenly distributed over the column's cross-sectional area thus ensuring almost complete displacement of feed water from the froth by a countercurrent washwater flow -provided, a positive bias is maintained. Therefore, flotation columns are ideal for cleaning flotation. However, there is usually less room for boosting the concentrate production capacity by increasing airflow or slurry level then with conventional cells because of the smaller cross-sectional area available."

Jan 1, 1994

Mining Impact in Water Quality: Understanding the conflict Mining is an industrial process Metal mines that chemically process ore to concentrate metals such as copper and gold use more water than non-metal mines such as coal, salt and gravel. Tailing Ponds Water contaminated with high concentrations of metals, sulphide minerals, dissolved solids, or salts can negatively affect surface water quality, aquatic ecosystems and groundwater quality.

May 1, 2013

By S. B. Mishra

Ni-20Cr metallic coating was deposited on a Ni-based Superalloy (3Fe-19.5Cr¬0.3Ti-Balance Ni) by a shrouded plasma spray process; NiCrA1Y was used as a bond coat. Erosion studies were conducted on uncoated and plasma-spray coated superalloy specimens using an air-jet erosion test rig at a velocity of 40 m/s and impingement angles of 30° and 90°. The coating has been characterized for porosity, microhardness and microstructure and X-Ray Diffraction (XRD). An electron probe micro analyzer (EPMA) was used to obtain X-ray elemental mappings of the coating along the cross-section. Scanning electron microscope (SEM) with EDAX attachment was used to analyze the eroded surfaces.

Jan 1, 2005

By Fathi Habashi, Ahmet Deniz Bas

"The mechanism of leaching of semiconducting minerals such as PbS, ZnS, UO2, etc., has been the subject of intensive speculation by hydrometallurgy researchers in the early 1950s who assumed the formation of intermediate surface complexes that could be neither separated nor identified by physicochemical techniques. The electrochemical theory of leaching introduced in the late 1960s resolved this problem by comparing the leaching process to a corrosion phenomenon similar to the corrosion of metals. Few years later, experimental evidence showed that anodic and cathodic zones are formed on the dissolving mineral although no electric current is imposed on the mineral during dissolution. A discussion of these findings is outlined.INTRODUCTIONIn the early 1950s researchers realized that kinetic studies for leaching ores are as important as thermodynamic calculations. It was also during this period that the concept of species adsorption on mineral surfaces has dominated the interpretation of the mechanisms of most reactions. This may have been due to the fact that many researchers of this period came from the mineral dressing sector and were influenced by flotation theories. However, when the knowledge of lattice defects and the semiconductivity of minerals became known and their importance in extractive metallurgy was realized, there was a need to explain the leaching reactions in light of these modern theories (Habashi, 1969, 1970). Semiconducting minerals of importance in metallurgy are two categories: the sulfides such as those of copper, lead, zinc, and the oxides such as those of uranium."

Jan 1, 2016

By T. Tsutsumi, S. Kukino

"During the diametrical compression test, the tensile stress generated near the loading plate is influenced by the contact area between the loading plates and specimen. However, very few studies have determined the contact area. Theoretical or analytical models have shown that for an orthotropic material (i.e., with material properties that differ along each of three mutually orthogonal twofold axes), the maximum tensile stress is generated at the center of disk when the angle of the principal material direction to the loading direction is close to ?/4. The maximum value is almost constant, regardless of the contact area. Conversely, the maximum tensile stress is generated near the loading plate when the angle between the principal material direction and loading direction is small. The maximum value decreases as the contact area increases. Therefore, in the latter case, the influence of the contact area on tensile strength measurement of is significant.In previous studies, the distribution of stresses applied on the loading plate is assumed to be a uniform load. In reality, the applied stress is highest at the center of loading plate and seems to decrease with distance from center. The applied load disappears at the edge of loading plates. In this study, in order to satisfy this boundary condition on the loading plate, the cosine curve is adopted as the distribution of load applied on the loading plates in a theoretical model of the diametrical compression test. Furthermore, the elastic solution using boundary conditions shown in this study is used to obtain the tensile stress distributions on the loading axis for an orthotropic circular plane. These distributions are compared with empirical results obtained under uniform loading with a loading plate or concentrated loading in previous studies."

Jan 1, 2015

By Julian V. Simela

Conventional methods of underground surveying use theodolites/total stations and 3D laser scanners to obtain information about the underground environment. Current methods of geo-referencing these instruments to a mine reference system include triangulation, trilateration and resection. However, despite technological advancements, surveying procedures have remained slow, laborious and relatively unchanged during the last half-century. Recent innovations in the robotics community have shown that automated mapping of underground mining tunnels can be undertaken using 2D/3D laser scanners. These techniques have the potential to, in turn, improve upon current underground surveying and mapping methods. Automating surveying and mapping using current surveying tools without changing the setting up procedures or removing current constraints, or even changing the type of equipment used, does not change the status quo. The problem of moving from a static, tripod based surveying and mapping system to an unconstrained mobile surveying and mapping system is the subject of this paper. A current challenge for automated mapping is the ability to automatically geo-reference a mobile mapping system to a mine reference system. For a mobile mapping system that uses a horizontally mounted 2D laser scanner to gather data of the underground environment, the challenge of determining its position and orientation within the mine environment is magnified even more. This paper introduces Mobile Automated Scanner Triangulateration (MAST), a technique under development at Queen?s that is designed to geo-reference a mobile mapping system to a mine reference system for the purposes of underground mine surveying. MAST quickly and automatically determines scanner 2D position and orientation (azimuth) in a mine reference frame by using minimal human input.

Aug 1, 2013