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*Robotics Phase 2 Mr. Mac’s Virtual Existence -
*Robotics Phase 2 Mr. Mac’s Virtual Existence According
*Robotics Phase 2 Mr. Mac’s Virtual Existence Date
*Robotics Phase 2 Mr. Mac’s Virtual Existence Key
Satellite-based global positioning systems (GPS or, more generally, GNSS) revolutionized the surface mining industry in the 1980s, 1990s, and early 2000s, possibly representing one of the most significant technological changes to the mining industry in recent history. Today, in conjunction with the advent of high-speed digital and mobile communications, material and fleet tracking systems are commonplace at nearly all surface mining operations. More recently, the number of deployed autonomous haul trucks and robotic surface drills has been increasing, owing their existence to advances in robotics, positioning, and communications technologies all at once.
However, the story is different for underground mining. There exists no directly analogous replacement for satellite-based global positioning systems that works in underground environments. Satellite signals cannot penetrate rock, and placing many radio frequency devices (e.g., RFID tags or Wi-Fi access points) throughout a mine has significant practical drawbacks and is not an elegant solution to the problem. Unfortunately, underground positioning (and underground robotics, in general) had a slow start in the 1990s and early 2000s, when several misconceptions about the state-of-the-art were espoused, for better or for worse. The fact is that practical, real-time, high-accuracy 3D positioning for moving equipment in underground environments is a tricky problem, and one that only recent computing, sensors, and know-how has solved.
After the Krusty Krab was burned to the ground by the rouge animatronic workers, the sole living survivor of the inferno was taken captive by the robot’s malevolent controller. Awakening, trapped in a building of concrete and steel, you must once again survive 5 nights against the automoton onslaught, though this time participation is not an. This is a walk through of the mr-robot virtual machine from vulnhub, it’s a very cool challenge that’s is based on the TV show. The district will observe the Dr. Martin Luther King, Jr. Day holiday, Monday, Jan. In-person instruction for students who selected classroom communities or hybrid models for Phase 2 will resume on Jan. Barrow was responsible for launching the Phase 2 clinical program for psilocybin in the treatment of Major Depressive Disorder and for obtaining Breakthrough Therapy Designation for.
This project page provides a summary of the research output from two phases of uGPS (underground positioning system) research funded by the Natural Sciences and Engineering Research Council of Canada (NSERC). Phase 1 focused primarily on localization in 2D, and was carried out with industry partner MDA. Phase 2 focused primarily on 3D mapping and associated practical applications, and was generously supported mostly by Barrick Gold‘s internationally-staffed Mining Information Technology (MIT) group. Together, these research projects supported more than a dozen graduate researchers, many fruitful technical discussions between university researchers and industry professionals, as well as joint field work. This research was directly made into the product called uGPS RapidMapper, now sold and used by mining companies and other professional organizations around the world.
The uGPS concept began in 2006 and was based on work by Joshua Marshall and Tim Barfoot on autonomous tramming at MDA, in collaboration with Atlas Copco Rock Drills AB (Örebro, Sweden). This initial work resulted in the development of source intellectual property, owned and patented by MDA.
J. A. Marshall and T. D. Barfoot. Traffic management system for a passageway environment. US Patent No. 7756615 US B2, July 13, 2010. European patent EP1924981B1, granted September 12, 2012.
J. A. Marshall and T. D. Barfoot. Global position and orientation estimation system for a vehicle in a passageway environment. European Patent Application No. EP 2 450 763 A1, filed July 26, 2006.
Beginning in 2008, initially funded by NSERC and MDA, a team from the Robotic Vehicles Group at Carleton University set out devise a map-based solution to the underground positioning problem based on the latest research from the mobile robotics community. This work formed the seed for the new underground positioning technology now called coined uGPS.Project Publications and Theses
N. J. Lavigne and J. A. Marshall. A landmark-bounded method for large-scale underground mine mapping. In Journal of Field Robotics, vol. 29, no. 6, pp. 861-879, November/December 2012.
S. Radacina Rusu. Real-time localization in large-scale underground environments using RFID-based node maps. M.A.Sc. thesis, Department of Mechanical and Aerospace Engineering, Carleton University, Ottawa, ON, August 2011.
S. Radacina Rusu, J. A. Marshall, and M. J. D. Hayes. Localization in large-scale underground environments with RFID. In Proceedings of the 24th IEEE Canadian Conference on Electrical and Computer Engineering, pp. 1140-1143, Niagara Falls, ON, May 2011.
U. Artan, J. A. Marshall, and N. J. Lavigne. Robotic mapping of underground mine passageways. In Transactions of the IMM (Part A): Mining Technology, vol. 120, no. 1, pp. 18-24, January 2011.
N. J. Lavigne. A landmark-bounded method for mapping of large-scale underground drift networks. M.A.Sc. thesis, Department of Mechanical and Aerospace Engineering, Carleton University, Ottawa, ON, September 2010.
J. A. Marshall. Navigating the advances in underground navigation. Invited article in CIM Magazine, vol. 5, no. 4, pp. 20-21, June/July 2010.
N. J. Lavigne, J. A. Marshall, and U. Artan. Towards underground mine drift mapping with RFID. In Proceedings of the 23rd IEEE Canadian Conference on Electrical and Computer Engineering, pp. 1-6, Calgary, AB, May 2010.
U. Artan. Algorithms and experiments for globally consistent mapping of underground passageway environments. M.A.Sc. thesis, Department of Mechanical and Aerospace Engineering, Carleton University, Ottawa, ON, January 2010.
Following the success of uGPS Phase 1 we received a great deal of interest from Barrick and other industry professionals, not specifically about the localization capability of the uGPS technology but rather about its ability to generate global and accurate maps of underground environments. This feedback formed the impetus for a new phase of research in underground mapping and localization.
In 2010, the short-lived Robotic Vehicles Group at Carleton University moved to Queen’s University and was re-named the Mining Systems Laboratory. In March 2013, a new uGPS project began, this time primarily funded by Barrick Gold‘s Mining Information Technology (MIT) group. Peck Tech Consulting showed an interest in our technology, given that they had recently hired two researchers from the uGPS Phase 1 project (Artan and Lavigne). These students brought the uGPS code and expertise to Peck Tech. An official link was also created with the Robotics and Computer Vision Laboratory at Queen’s, to augment our expertise in the areas of computer vision and the possible use of camera-based sensors for mapping and localization.
This new uGPS research project was divided into several work packages (WPs), each with a specific sub-objective (see publications and links below). At the end of the project (in March 2016), more significant progress had been made one some work packages when compared with others. However, this was as a result of the feedback from our industry partners throughout the project about the directions most interesting and timely to their activities. Some publications are still under review or in press, and are thus not listed yet (check back here for updates in 2017 and beyond).Related Publications and Theses
Below are a some publications and theses from MSL that fall into the subject areas related to those relevant to uGPS.Mapping
J. Simela. Towards Automated Underground Mine Surveying: Integration of Mobile Mapping with Georeferenced Geometric Beacons. Ph.D. Thesis, The Robert M. Buchan Department of Mining, Queen’s University, January 2016.
M. T. Ahmed, M. Mohamad, J. A. Marshall, and M. Greenspan. Registration of noisy point clouds using virtual interest points. In Proceedings of the 12th Conference on Computer and Robot Vision (CRV 2015), Halifax, NS, June 2015. Best vision paper award!
J. V. Simela, J. A. Marshall, and L. K. Daneshmend. Automated laser scanner 2D positioning and orienting by method of triangulateration for underground mine surveying. In Proceedings of the 30th International Symposium on Automation and Robotics in Construction and Mining, Montreal, QC, August 2013. [funded by NSERC Discovery]Real-Time Localization
E. Deretey. Visual Localization in Underground Mines and Indoor Environments using PnP. M.A.Sc. Thesis, Department of Electrical and Computer Engineering, Queen’s University, January 2016.
E. Deretey, M. T. Ahmed, J. A. Marshall, and M. Greenspan. Visual indoor positioning using a single camera. In Proceedings of the 6th International Conference on Indoor Positioning and Indoor Navigation (IPIN 2015), pp. 1-9, Banff, AB, October 2015.
D. Sinha. Image Retrieval using Landmark Indexing for Indoor Navigation. M.A.Sc. Thesis, Department of Electrical and Computer Engineering, Queen’s University, April 2014.
D. Sinha, T. Ahmed, and M. Greenspan. Image retrieval using landmark indexing for indoor navigation. Proceedings of the Canadian Conference on Computer and Robot Vision (CRV 2014), Montreal, QC, May 2014.Automated Map Annotation
C. Watson and J. A. Marshall. Estimating underground mine ventilation friction factors from low-density 3D data acquired by a moving LiDAR. To appear in the International Journal of Mining Science and Technology, accepted June 2, 2017.
C. Watson. Towards Estimating Friction Factors of Mine Drifts from Low Density Point Clouds. M.A.Sc. Thesis, The Robert M. Buchan Department of Mining, Queen’s University, April 2016.
C. Watson and J. A. Marshall. Towards extracting absolute roughness from underground mine drift profile data. In Proceedings of the 37th International Symposium on the Application of Computers and Operations Research in the Mineral Industry (APCOM 2015), Fairbanks, AK, May 2015.Change Detection
R. L. Vanderbeck. A Bayesian Approach to Convergence Detection in Underground Excavations using LiDAR. M.A.Sc. Thesis, The Robert M. Buchan Department of Mining, Queen’s University, April 2016.Vehicle Routing and Ramp Management
M. Pasternak and J. A. Marshall. On the design and selection of vehicle coordination policies for underground mine production ramps. In International Journal of Mining Science and Technology, vol. 26, no. 5, September 2016. DOI: 10.1016/j.ijmst.2016.05.014Robotics Phase 2 Mr. Mac’s Virtual Existence -
D. Haviland and J. A. Marshall. Fundamental behaviours of production traffic in underground mine haulage ramps. In International Journal of Mining Science and Technology, vol. 25, No. 1, pp. 7-14, January 2015. DOI: 10.1016/j.ijmst.2014.11.006
Portofino Resources INC. had a highly active 2020 that included 4 new property acquisitions and completed financings totaling over $2.4 million . Multiple field programs were implemented and were successful in advancing our Northwestern Ontario projects.A 2020 summary of activities, results and 2021 plans regarding our two main projects are as follows:South of Otter Gold & Base Metals Project, Red Lake, Ontario• A …
Portofino Resources INC. (TSXV: POR) (FSE: POTA) (“Portofino” or the “Company”) had a highly active 2020 that included 4 new property acquisitions and completed financings totaling over $2.4 million (includes $900,000 raised through the exercise of warrants). Multiple field programs were implemented and were successful in advancing our Northwestern Ontario projects.
A 2020 summary of activities, results and 2021 plans regarding our two main projects are as follows:
South of Otter Gold & Base Metals Project, Red Lake, Ontario
• A ground VLF/EM survey was designed and carried out during the winter of 2020 to refine the gold mineralization targets of merit and identify specific areas for prospecting, trenching and drilling. The survey successfully delineated 3 significant conductors over a 1.6-kilometer strike length.
*The survey was followed by a spring prospecting campaign that resulted in the discovery of several small outcroppings that were sampled and returned encouraging grab samples of up to 16.0 grams/tonne (“g/t”) Gold. Samples were collected proximal to zones of strong sulphide mineralization as noted by the field crew.
• An Exploration Permit was applied for and granted, enabling the Company to initiate a mechanical stripping program during the summer. Channel, select cut, and chip samples returned values up to 1.09 g/t gold over 0.58 meters (“m”). The program was limited in scope due to a lack of outcrops and near ubiquitous glacial cover on the property.
• A heliborne high-resolution magnetic (MAG) survey was completed over the entire property during the summer which enhanced the Company’s understanding of the structural and lithological make-up of the property, adding merit to those areas of potential mineralization.
*In late October/early November, a Phase 1 (51 sample) Soil Gas Hydrocarbon (“SGH”) soil survey at the Yellow Jacket Target zone and a (117 sample) SGH soil survey at the Cliff’s Target Area was completed. SGH sample results returned a rating up to 5.5 on a scale of 6 at the Yellow Jacket zone and up to 4 at the Cliff’s zone where such ratings mean that, (based only on SGH survey) there is a good to high probability that gold mineralization may be present.
2021 Plans:Robotics Phase 2 Mr. Mac’s Virtual Existence According
Portofino‘s geological crew intends to return to the South of Otter property in January to expand the SGH geochemical survey area. The 2021 Phase 2 SGH Soil Sampling Program will entail approximately 215 additional SGH soil samples collected at the expanded Cliff Zone and Yellow Jacket Zone grids and will double the size of the Phase 1 sampled area. Phase 2 samples will be taken from 100m spaced grid lines and sample stations every 25m along the lines. The objective of Phase 2 is to pinpoint drill targets for an inaugural program targeted to commence within the first half of 2021.
Gold Creek Property, Shebandowan, Ontario
*In May, the Company acquired the right to earn a 100% interest in the Gold Creek Property which consisted of approximately 2,500 hectares. During the summer and early fall, Portofino staked additional claims and completed a second claim acquisition resulting in an expansion of the Property to 4,023 hectares.
*Historical property work included multi-ounce gold grab samples, as well as historical drill intercepts of 4.32 g/t gold over 41 metres and 4.36 g/t gold over 20.42 metres completed in 1995 and a 1 tonne bulk sample in 2008 returning an average grade of 9.9 g/t gold.Robotics Phase 2 Mr. Mac’s Virtual Existence Date
*During the summer and fall, two prospecting programs were carried out on the property resulting in 211 grab samples being collected. Historical zones were located and sampled, including the historical AH-AF-U Zones, the S1 Zone and the I Zone. Sampling confirmed anomalous to high-grade gold at each of these zones, up to 45.6 g/t gold at the I Zone, from north-south ladder veins in an east-west syenite dyke.
*A Mag Survey was flown over the entire property during the late summer. Following the results of the Mag survey, a property wide regional compilation and structural interpretation was completed by Orix Geoscience which greatly enhanced the geological and structural understanding of the property. Additional gold mineralization targets of merit were outlined and will be followed up.
*Prospecting and mapping in the fall lead to the discovery of the ‘New Road Zone’. Fourteen (14) grab samples were collected with the best returning 4.07g/t gold as well as 720ppm copper. This newly discovered zone may be mineralized for at least 300 meters. The Crayfish Creek Fault is proximal to this new discovery. The Crayfish Creek Fault is a major crustal scale feature extending for 80km and hosts the Matawin Gold belt, home to numerous precious metal occurrences and base metal deposits.
2021 Plans:
The nature and significance of gold mineralization on the Gold Creek property has been greatly enhanced during the 2020 field season and exact locations of historical work are now better understood. Gold occurrences appear to be located near the intersection of the NE-SW fault structures and the WNW-ESE Crayfish Creek Fault and appear to be related to granodiorite to syenite dykes and stocks. The intersections of these structures appear to be favourable sites for the deposition of gold. These sites will be identified and undergo trenching and sampling. The known historic gold zones confirmed through the 2020 field work will be drill readied following detailed compilation of previous drilling and ongoing structural interpretations. Portofino is currently awaiting the authorization of its drilling and exploration permit applied for in December 2020. This permit is anticipated within the first quarter of 2021 and upon its receipt Portofino will mobilize crews for its inaugural drilling program. Robotics Phase 2 Mr. Mac’s Virtual Existence Key
Qualified Person
The technical content of this news release has been reviewed and approved by Mr. Mike Kilbourne, P.Geo., who is a Qualified Person as defined by National Instrument 43-101, Standards of Disclosure for Mineral Projects.
About Portofino Resources Inc.
Portofino is a Vancouver-based Canadian company focused on exploring and developing mineral resource projects in the Americas. Its South of Otter and Bruce Lake projects are in the historic gold mining district of Red Lake, Ontario proximal to the high-grade Dixie gold project owned by Great Bear Resources Ltd. In addition, Portofino holds three other northwestern Ontario gold projects; the Gold Creek property located immediately south of the historic Shebandowan Nickel-Copper mine, as well as the Sapawe West and Melema West properties located in the rapidly developing Atikokan gold mining camp. The Company also maintains a 100% interest in the Yergo lithium salar property located within the world-renowned “Lithium Triangle” in Argentina. For further information on the Company, its projects and its management please visit our website: https://www.portofinoresources.com/.
ON BEHALF OF THE BOARD
“David G. Tafel”Chief Executive Officer
For Further Information Contact:David Tafel CEO, Director 604-683-1991
Neither the TSX Venture Exchange nor its Regulation Services Provider (as that term is defined in the policies of the TSX Venture Exchange) accepts responsibility for the adequacy or accuracy of this rele

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