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By Simon C. Dominy

"There are two main issues stemming from Vallée’s (2002) comments on Dominy et al. (2001b). First, he raises the importance of quality assurance/quality control (QA/QC) during resource estimation programs, and second, he indicates that the resolution and understanding of continuity (grade and geological) issues are paramount in the classification of resources. In particular, continuity is critical at the boundary between the Inferred and Indicated Mineral Resource categories. The original contribution agrees with the importance of these points, and the principal author offers the following discussion and clarification. Further comment is also provided on the reporting of grade uncertainty through grade ranges.It is worth remembering that vein-gold deposits (e.g., shear-zone, lode-gold, mesothermal types etc.), particularly those containing coarse gold particles (e.g., >100 µm), generally show large variations in grade and an erratic grade distribution. In most cases, diamond drilling is a good measure of geological continuity (depending on drill spacing), but a poor measure of grade and its distribution. High-nugget effect deposits rank among the most difficult deposit types in terms of producing an accurate and precise resource estimate, and clearly represent a distinct deposit type."

Jan 1, 2002

By Brian Hart, Stamen Dimov, Aparup Chattopadhyay, Barun K. Gorain

"A novel gold deportment technique has been developed for complex copper-gold and double refractory gold ores using state-of-the-art technology. Characterization of these ores is a challenging task due to low copper and gold grades in ores, presence of both primary and secondary copper sulfide phases and variable proportion of visible and invisible gold in different sulfides and iron oxide phases.Double refractory ores are mainly composed of silicates and carbonates with moderate clay and mica, and minor amounts of sulfides and organic carbonaceous matter. Gold mostly occurs as ""invisible gold"" (sub-microscopic gold) as solid solution or as colloidal-sized particles in different sulfides and other phases. The dominance of invisible gold and presence of highly preg-robbing and finely disseminated carbonaceous matter adversely affects gold recovery in flotation and leach circuits. Characterization of this carbonaceous matter, commonly known as TCM and quantification of gold associated within TCM, along with different sulfide and oxide phases is highly complex and challenging.Studies were initiated on various complex ore deposits and also on samples representing various process streams. This paper presents the development of a systematic approach to diagnostic metallurgy using state-of-the-art optical and automated mineralogy techniques, namely, micro-probe, dynamic SIMS and TOF-SIMS analysis for quantification of invisible and visible precious metal content in various species. The relevance of the mineralogy characterization to metallurgy will also be discussed in this paper."

Jan 1, 2016

By Simon C. Dominy, Patrick R. Stephenson, Alwyn E. Annels

Abstract - The often complex, erratic, and localized nature of gold is a common feature of many vein-style gold deposits. This style of mineralization is often referred to as being nuggety or possessing a high-nugget effect. As a result of these complexities resource estimation is difficult and in general, only Exploration Results can be provided or an Inferred Mineral Resource estimated from surface drilling data alone. Underground development, further drilling, and probably bulk sampling will be required to delineate Indicated and Measured Resources. Tonnages can generally be estimated from diamond drill and development information with a reasonable degree of confidence. Grade is much more difficult to define with confidence because it is commonly highly erratic and discontinuous in nature. The dependency of higher confidence Resource categories on development information may create a Catch 22 situation, with funding for such development often depending on the prior definition of at least Indicated Resources. There are no easy solutions to these challenges posed by high-nugget effect deposits, and it is important when classifying and reporting not to downplay the uncertainties often associated with Mineral Resource and Ore Reserve estimates for such deposits. However, in common with all deposit types, if the principles that underpin the estimation, classification, and reporting procedures are borne in mind and common sense applied, most issues can be satisfactorily resolved. This paper discusses the classification and reporting of Mineral Resources for high-nugget effect gold vein deposits within the framework of the JORC Code (JORC, 1999).

Jan 1, 2001

By Min-Yuan Cheng

Landslides not only cause interruption of road traffic but also cause damage to passing by vehicles and injure people in Taiwan. Due to the budget limitation of government, the overall assessments and maintenance of all road slops cannot be fulfilled. Priority of road for maintenance is a crucial task for road maintenance department to identify. The purposes of this research are to develop an assessment method for the landslide risk and to make strategies to maintain or repair the slopes along mountain roads. To aim both needs to take into account the environmental conditions of the slopes, the engineering measures for stabilizing road slopes, the transportation issues, and the human concerns when dealing with the slopes maintenance along the mountain roads. This study firstly establishes the Landslides Damage Risk Evaluation Model (LDREM) to calculate the risk of slope failure, considering the probability of landslides, temporal probability, spatial impact probability, the value of human life, transportation time increased, and travel cost due to detour etc., and then the loss of life and transportation can be calculated. Secondly, based on the value of risk and the risk evaluation, considering the risk acceptance criteria for loss of life could provide assistance for road maintenance department to determine the priority of mountain roads for maintenance.

Aug 1, 2013

By R. C. Bryce, G. S. Martin

"Aur Resources Inc. is the operator of the Louvicourt Mine located 40 km east of Val d'Or. Quebec. Les Entreprises Minieres Redpath Limitée a member of the 1.S. Redpath Group of companies was contracted to construct two vertical mine shaft collars in deep overburden.During the spring of1991 two vertical shaft collars were established in wet, running sand that was in excess of20 m deep. This paper will illustrate the engineering and construction techniques used in establishing these collars and the methods used to overcome the various obstacles that occurred during construction.IntroductionThe Louvicourt copper/zinc/gold/silver deposit is located 40 km east of Val d'Or, Quebec, is adjacent to the former Louvern Mine which operated at depths of 40 m to 850 m below surface (Fig. 1). This deposit was discovered in mid-1989 as the result of systematic exploration and diamond drilling based on a geological model. The Louvicourt project is operated by Aur Resources Inc.The property is being developed to produce 4000 tid with an anticipated life of just over 17 years. Mill start up is scheduled for July 1. 1994, commercial production October I, 1994, and full production by late 1995. The current production plan provides for 24 040 (XX) t averaging 3.89% copper, 1.95070 zinc, 0.039 oz gold per tonne and 0.99 oz silver per tonne, to be mined."

Jan 1, 1994

By M. Timberlake, A. J. Jonaitis

"The DENVER Tube Press is a simple, high pressure (1500 PSI (100 bar)) filtration unit, developed for processing difficult-to-dewater materials and to produce a handleable filter cake and clear filtrate product.Lab and Pilot testwork conducted in Australia on coal fines (55-70% -35 micron (400 mesh)) have shown that total moisture contents of less than 20% are consistently achieved in the final cake products from the Tube Press.currently, these coal super fines are sent to waste due to uneconomical mechanical dewatering methods, which were only able to reduce total moisture levels in excess of 30%. Calculated, throughput rates for the 500 series Tube Press exceeded 1700 kg/hr (3750 lbs/hr). Feed solids concentration requirements are between 45 and 50% to achieve these results.INTRODUCTIONThe DENVER Tube Press is an automatic membrane high pressure filter press, which operates at hydraulic water pressures up to 1500 PSI (100 bar). The Tube Press was developed in the late 1960's by Charlestown Engineering, st. Austell, Cornwall, England, formerly a division of English China Clays, Ltd., to address more effective methods of moisture reduction of micron-size china clays. The Tube Press reduced moisture sufficiently to produce a hard surface-dry, handleable cake and clear filtrate discharge, which was recycled into the process. This development work was conducted using a 200 Series Tube Press (200 mm diameter x 2500 mm long filter surface)."

Jan 1, 1993

By Dani J. Alldrick, Alastair J. Sinclair, Colin I. Godwin

"The Stewart mining camp has a long history of precious and base metal mining. The camp is abundantly mineralized, with more than 200 widespread, varied, vein prospects, deposits and orebodies. These show wide variations in the mineralogy of ore, gangue and alteration assemblages, and wide variations in textures and structural settings. This report establishes the timing of the different metallogenic epochs and suggests a specific exploration application for systematic leadisotope analyses.Galena lead isotope ratios from a range of mineral occurrences indicate that all these varied deposits formed during two main mineralizing events. Lead isotope data from the Stewart mining camp do not provide absolute ages for the formation of mineral deposits, but the relative distributions of data are consistent with dates determined in other studies. One ore-forming episode occurred in the Early Jurassic and the other in the Middle Eocene. Both metallogenic epochs were brief, regional-scale phenomena. Some deposits from the younger mineralizing episode were emplacedadjacent to or superimposed on the older deposits.Field and laboratory studies show that the two metallogenic epochs are characterized by different base and precious metal suites: Early Jurassic gold-silver-zinc-lead-copper; and Middle Eocene silver-lead-zinc. Therefore, showings of different ages have different base and precious metal potentials and deserve different exploration emphasis. Lead isotope studies provide a reliable, cost-effective method for evaluating the age and commodity potential of small or recently discovered mineral showings and for setting exploration priorities on properties with several varied mineral occurrences. The determination of the age and metal potential of a prospect at an early stage of exploration may govern the urgency, intensity or even the necessity for further exploration work."

Jan 1, 1993

By Per-Lennart Nystedt

"The Boliden Lead Kaldo Plant for the treatment of lead bearing flue-dust from the Copper Smelter and the Slag Fuming Plant has been in operation at the Ronnskar Works of Boliden Metall since the middle of 1976. At the present stage, the plant can treat lead-bearing dust of different kinds and compositions. The process allows good separation of arsenic and halogens from lead.The flue dust from the Copper Smelter and the Slag Fuming Plant is very complex and, apart from lead, also contains zinc, copper, tin, bismuth, cadmium, antimony, arsenic, sulphur, silver, chlorine and fluorine. The metallurgical process has been developed by Boliden Metall and has been tested on a pilot scale at the Foundation for Metallurgical Research (MEFOS) in Lulea, Sweden.The pelletized dust is smelted in the converter, where the heat is generated by an oil oxygen burner. The second step consists of reduction with coke. A lead bullion and slag are obtained. The slag, transported in liquid form, is treated in the Slag Fuming Plant for the recovery of zinc. The third step is the elimination of arsenic from the bullion. This is achieved by treating the lead with iron (turnings or pellets). The result is a crude lead and speiss. The lead contains silver, tin, antimony and bismuth, and is suitable for the final refining stages in normal plant equipment for refined lead.For process control, we use the rapid analysis centre, which is pneumatically and electronically linked to 'all major plant sections and allows for a quick turn-around between delivery of the sample and feedback of results. All three steps in the process are performed in the same converter.Since the starting up of the plant, the original process has been subjected to some modifications. Initial problems related to equipment, maintenance and environment have been solved step by step. Examples are quoted. Recent operating particulars are presented."

Jan 1, 1980

By Lou Covello

Bow Valley Industries Limited i conducting an on-going exploration program for gold in Archean, turbidite-hosted iron formations near the Lupin mine on Contwoyto Lake, orthwe t Territorie . Exploration philosophy and practice are modelled on the Lupin deposit where 70% of the gold occurs within laminated pyrrhotitechert. sulphide facie iron formation. Thi i intimately associated with barren to low-grade silicate facie iron formation which i enclosed by predominantly argillaceou meta ediment . This type of mineralization i amenable to exploration through an integrated program of geological and geophy ical surveying, consisting of the following: i) Geological urvey both regional and local to outline area of turbidites and a ociated iron formation. Structural and tratigraphic trends documented during this phase are useful in determining eventual grid configurations. Grids are then mapped and ampled at 1:2000 cale. ii) Magnetometer and gradiometer urvey at the ame scale define strongly magnetic diabase dyke and erratically magnetic portions of iron formation. iii) VLF-EM survey are u eful in outlining conductive trend invariably as ociated with sulphidic or graphitic phase of iron formation. iv) Geological updating and ampling of iron fom1ation based on the geophysical su rveys. This is necessary for the production of a final geologic map and a an adjunct to drill target election. In problematic instances self-potential urveys have documented the pre ence of non-conductive sulphide accumulations, and horizontal loop EM surveys have been used to determine conductor geometry and quality. Target selection is based on a synthesis of the information from all of the above surveys with the results of no single survey being critical to drill decisions. The program is designed to provide first-pass, detailed , cost-effective ground coverage of large areas of highly prospective geology.

Jan 1, 1986

By Carricajo T., S. Nazari

This paper discusses a unique dynamic solution for optimizing comminution area in real time. The proposed technology is a combination of model predictive controller, optimization methods and real-time digital twin for mineral processing. For grinding area, the ultimate goal of an effective control strategy is to maximize the mineral processing, reduce energy consumption and stabilized size classification. To have a continuous and effective comminution operation, a reliable control system that minimizes the need for human intervention is necessary. The implemented advanced control strategy for comminution area consists of two layers in hierarchical structure. The lower layer objective is to stabilize the process stabilization using model based predictive controller (MPC) technique. The unique MPC used in this layer is called BrainWave™ chosen for its robustness, convergence and delay handling; furthermore, the developed platform offers stable and repeatable solution and has short implementation time. The upper layer is a supervisory control, which sends the preferred process operation points to the lower layer to drive the process towards optimal performance. The goal of this layer is to optimize the process targets, as well as making decision. To increase process performance, automatic ore characteristic adaptations are implemented in this layer. A digital twin of comminution area is built in the second layer that runs amongst the process in parallel. By communicating, the process data in real time, a virtual densitometer is built that is being used in our advance process control strategy. Our control strategy has been developed, tested and implemented in various areas of a copper concentration plant. The targets for implementing advance process control are usually increased throughput, decrease energy consumption and variability reduction in particle size distribution. Overall, the results showed in different mine sites are increase throughput between 2 and 5%, specific energy consumption reduction about 15% and process variability reduction up to 60%. In this paper we discuss the results of the recent implementation of this technology on Minera Los Pelambres, Minera Collahuasi and CAP Minería. Their concentrator plants have installed control systems with the most updates optimization features, for SAG mill, ball mills and thickeners.

Jan 1, 2019

By B. R. Schneiders

"Atikokan is 200 km west of Thunder Bay and earned its mining fame from the discovery of the Steep Rock Iron Range in the late 1930s. Gold, however, was discovered in the Atikokan and Mine Centre areas in the late 1800s and eventually led to one of Ontario's first gold camps, and a total production of approximately 52,000 oz of gold and 174,000 oz of silver from 218,000 tons milled.The general geology of the area consists of Early Precambrian rocks of the Wabigoon and Quetico subprovinces, separated by the east-trending Quetico Fault. The Wabigoon Subprovince, to the north, consists of metavolcanics, minor metasediments and granitic batholiths. The Quetico Subprovince consists of metasediments and granitoids. Small ultramafic plutons occur throughout the metasediments.Within a 50-km radius of Atikokan, more than 50 gold occurrences, prospects and past producers have been discovered since the 18oos. The Atikokan Gold Study performed by the Ontario Geological Sur vey (Wilkinson, 1980, 1982) defined three types of gold mineralization in which gold is concentrated in quartz and quartz-carbonate veins:I) Metavolcanic-Hosted, Stratabound Type-associated with altered felsic fragmental units and chemical sedimentary rocks; possible gold mineralization source rocks. The mineralization is due to metamorphogenic (epigenetic) enrichment. Associated with dynamic metamorphism events and/or felsic intrusive events.2) Marmion Lake Batholith Type-occurs within the gneissic core of the batholith associated with north east-trending lineaments, representing faults or shear zones. Mineralized veins are related to several periods of deformation and shearing, suggesting that metamorphogenic veins were produced during dynamic metamorphism.3) Contact Zone Type -occurs in the contact zone rocks between gneissic batholiths and meta volcanic belts. Hydrothermal solutions produced during several deformational periods acted to leach and concentrate gold mineralization. Localized, discontinuous shear zones host the epigenetic (metamorphogenic) veins.Twenty-one properties in the area were mapped and sampled, and researched petrographically and geochemically. Geological data from the Atikokan Economic Geologist Program of the Ontario Geological Survey are used in discussing the types of mineralization, genetic models, and exploration targets and techiques."

Jan 1, 1983

"Coupon testing has been used to investigate stress corrosion cracking (SCC) of rockbolts in a laboratory based experimental program. This program has focused on the use of ASTM G39 three- and four-point bent beam coupon specimens, immersed in an acidified sodium chloride test solution containing hydrogen sulfide. The specimens were loaded to a range of stresses from zero, to just above the materials yield strength. It was found that only specimens above an applied stress of 580MPa failed by means of SCC, showing that rockbolts loaded to near their yield strength may be susceptible to SCC in-situ.INTRODUCTIONStress corrosion cracking (SCC) is a failure mechanism that affects material through the growth of hairline cracks when exposed to a corrosive medium while under stress (Jones and Ricker, 1999). SCC has been found to affect rockbolts in the Australian underground coal mining industry and has the capacity to cause the catastrophic failure of ground support systems, potentially leading to falls of ground in underground excavations, injury or death to mine personnel, damage or loss of equipment, and loss of productivity through the loss of roadway access (Crosky et al, 2002).Coupon testing utilises small scale samples that are intended to be indicative of the behaviour exhibited by a material in-situ (ASTM G39). The small scale, and usually high surface area to volume ratio of coupon specimens mean that they corrode at faster rate proportional to their mass, greatly reducing testing times. The small scale of the specimens allows them to be more easily prepared and handled, loaning them to mass manufacturing techniques.A previous study conducted by Vandermaat et al (2012b) into the use of three- and four-point coupon testing in-situ in an underground coal mine failed to result in SCC of the specimens. This paper serves as a follow up laboratory investigation in order to understand why these specimens did not fail. Previous studies into the SCC in rockbolts carried out by Gamboa and Atrens (2003) determined that rockbolt steel has a critical stress threshold of approximately 90% of the material ultimate tensile strength (800-900MPa). This study will focus on this critical stress threshold as a possible explanation for the lack of failure in the in-situ specimens (Vandermaat, 2012b)."

Jan 1, 2015

By D. G. Dixon

A novel technology for leaching copper from primary copper concentrates has been developed at UBC. This patented technology takes advantage of the galvanic couple between pyrite and chalcopyrite to ensure rapid and complete oxidation of chalcopyrite under mild conditions in acidic iron sulfate solution, without the need for microbes, ultrafine grinding, or chemical additives such as chloride, nitrate, or surfactants. Copper recoveries of 98% or greater can be achieved at 80°C under atmospheric conditions in as little as 4 hours of residence time. The process is selective for chalcopyrite over pyrite, generates near-quantitative levels of elemental sulfur, and is fully compatible with conventional solvent extraction and electrowinning of LME Grade A copper cathodes. In this paper, the fundamentals of the Galvanox ? process are reviewed, and selected results of batch leaching tests on various concentrate samples are presented and discussed.

Jan 1, 2007

By L. Beiza, L. Velásquez-Yévenes

Chalcopyrite is by far the most abundant copper sulphide on Earth, but it has proved to be problematic in its processing by leaching, mainly related to its refractory nature, slow kinetic rates of dissolution and the formation of an inhibiting product layer on its surface during leaching. This study is focussed on the electrochemistry of chalcopyrite dissolution in acidic chloride system, which has recently gained attention as a feasible alternative to conventional sulphate media for chalcopyrite leaching. It is well understood that chalcopyrite dissolution from mineral grains depends strongly on the solution redox potential at the mineral surface as well as the composition of the product layer that may form on its surface. The chloride ions in solution support the Cu(II)/Cu(I) couple as the primary oxidant, as they can form complexes with the cuprous ions formed, increasing the dissolution rate. Additionally, these ions increase the potential range where chalcopyrite can be oxidized. The chemical reaction that occurs on the surface of chalcopyrite in chloride solutions in the presence of cupric ions will be characterized and the coulometry of the reaction will be reported to understand what is happening on the surface of chalcopyrite. Electrochemical experiments have been carried out to investigate the behaviour of mixed potential by open circuit potential (OCP) measurement for 30 minutes using sulphuric acid at pH 1 under nitrogen at 25⁰ C. The effect of chloride was analysed at 0, 20, 50 and 100 g/L and cupric ions from 0 to 50 g/L. The potentials obtained were then used to carry out chronoamperometry tests for a period of 30 minutes in absence of cupric ions. The mixed potential did not show a significant difference with an increase in cupric concentrations in the absence of chloride. Increased mixed potentials and current densities were observed at higher chloride and cupric concentrations. Chronoamperometry tests at those potentials were used to construct a voltammogram trace which has the same trend as a normal cyclic voltammogram but with much lower current densities. INTRODUCTION As a result of the depletion of copper oxides, the leaching of copper sulphide minerals has become the focus of many studies. Chalcopyrite, (CuFeS2) which is the most abundant of copper minerals, has proved to be challenging to process via hydrometallurgy, mainly related to its refractory nature, slow kinetic rates of dissolution and the formation of an inhibiting product layer on its surface, during leaching.

Jan 1, 2019

By M. B. McClenaghan

"The Ontario Geological Survey completed a regional till sampling project between 1984 and 1988 in the Black River Matheson (BRiM) area of northeastern Ontario. The project was designed to aid mineral exploration in the area by documenting the Quaternary stratigraphy and by providing a database of till geochemistry. This paper summarizes the results from the sonic overburden drilling component of the BRiM project carried out in areas of thick drift (> 5 m). Results from till sampling in areas of thinner drift (<5 m) have been presented in a separate paper. Approximately 1100 till samples were collected from 225 sonic drill holes. For each sample, the non-magnetic heavy mineral (>3.3 S.G.) and fine (-250 mesh) till fractions were analyzed geochemically and visible gold grains were recovered by panning.Gold and other multielement geochemical data were plotted using proportional symbols to highlight anomalous areas and to demonstrate how to evaluate and interpret a very large geochemical dataset. Thresholds for identifying anomalous concentrations of Au in till samples, defined using the 95th percentile, are 1500 ppb and 12 ppb for the heavy mineral and fine fractions, respectively. The heavy mineral fraction of older ti1ls and to a lesser extent, Matheson Till, display a number of significant gold anomalies in the study area, which in a few cases, are associated with base metal anomalies. The vertical position of gold anomalies in Matheson and older ti1ls varies from directly on bedrock to several meters above the bedrock surface and can provide information of relative ice transport distances."

Jan 1, 1994

By M. R. Shadnam

This contribution provides an assessment of research and development efforts to optimize SOx, NOx and mercury capture in flue gas. Coa, characteristics and combustion conditions in a power plant have an impact on the types and concentration of flue gas pollutants. These factors can also affect the amount of pollutant removed. This contribution would also provide a comparative study of the technologies that holistically aim remova, of SOx, NOx and mercury altogether in coal-fired power plants. A portion of this contribution provides background information on regulatory drivers.

Jan 1, 2010

Terrane?s Canadian Assets Mt. Milligan, British Columbia Copper, gold (100%) Berg, British Columbia Copper, molybdenum (100%) Howards Pass, Yukon/NWT border Zinc (Option payments, and Royalty interest) Maze Lake, Nunavut Gold (Joint venture with Laurentian Gold Fields)

May 1, 2010

By Marty Hudyma

Mining-induced seismicity and rockbursting is one of the primary risks in deep mines. Seismic data management software has been created to facilitate analysis of mining-induced seismicity. The Mine Seismicity Risk Analysis Program (MS-RAP) is a purpose built database with mine seismicity analysis tools. One of the primary features of MS-RAP is the creation of seismic hazard maps in quasi-real time. The seismic hazard maps identify areas that are more prone to large seismic events and rockbursts, allowing risk management measures to be focused on the areas of greatest risk. These maps allow mining engineers to be more proactive about identifying and managing seismic related geomechanics risks in mines.

Oct 1, 2009

By Laxman (Lucky) Amaratunga, Hisham Madi

Final disposal of mine wastewater neutralization sludge continues to be one of more pressing problems in the mining industry. The disposal of mining and metallurgical waste products into underground reduces the environment impact and improves the safety of the mining operation and the economics of the enterprise. This current research focuses on an investigation of utilization of mine wastewater neutralization sludge obtained from Kidd Creek Mine site, as a supplementary material for their proposed deep mine pastefill system. Their proposed pastefill consist of combination of rock aggregate in a matrix of imported sand and tailings with binder (Portland cement + Slag cement). Pastefill mixes containing various percentages of the waste sludge 0 (control mix), 1, 2, 3, and 5% by weight as replacement to the fine sand were prepared and tested with different percentages of binder. Hypothesis behind this approach is to study the behavior of sludge as replacement of sand in matrix as well as its ability to act as a binder. Compressive strength, percentage of sludge, binder dosage, slump, water to cement ratio, percentage of solid, and curing time are being observed. The results indicated that sludge can be incorporated into the pastefill and enhance its strength without compromising the pastefill quality and integrity.

Jan 1, 2004

By Shigeru Sarata

A wheel loader is one of the main loading machines in open pit mines. The authors have been conducting research and development on autonomous operation of loading by a wheel loader. The most common loading method by a wheel loader is the ?V shape? path method. The loading operation consists of cycles of scooping from the pile, traveling to the dump truck, loading on the dump truck and return traveling to the scooping point for the next cycle. The traveling path includes a switchback in the middle of the path. The moving direction of the loader is changed at the switchback point. From observation of V shape path loading operations by experienced human operators, it seems that they control the bucket position between the scooping point and loading point on a shorter path for higher productivity. A new path planning method is proposed this paper, whereby a point on the center of the tip of the bucket is controlled moving from the initial point and the final point. The motion of the controlled point is generated by the wheel steering the wheel loader. The controlled point is moved along the direction to the final point; however, the motion and mechanism of wheel loader have restrictions, such as the velocity of the loader, the steering angle, and the steering angular velocity. Because of these restrictions, the path of the controlled point is not a straight line between the initial and final points. When this control method is applied between the scooping and the dumping points directly, the planned path is not stable in the leaving wing of V shape path. Therefore, the initial position of the wheel loader is set at the switchback point, then two approach wings to the scooping and the dumping points are made. The whole planned path is obtained by connecting the two paths. The shape of the planned path is strongly affected by the position of the switchback point, as well as the scooping and the dumping points. By simulation of path planning at different switchback points with the combination of the scooping and the dumping points, the paths for more effective loading are determined. The results of the simulation are presented in the paper.

Aug 1, 2013