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By J Dyt, S Lyons

In the mining industry, crusher-related incidents have led to 15 reported deaths in Australia, New Zealand, and the USA between 1998 and 2007 (NSW Government Resources Regulator, 2024). The majority of these fatalities occurred during routine crusher maintenance tasks. A survey of quarry and mine site maintenance staff was completed to ascertain what they thought of such safety device to understand if beneficial and if so reasons if unused. Overall, findings show, staff perceived risks differently, cost, familiarity, device awareness and not front of mind, influenced adoption. This underscores the importance of asking the right questions involving maintenance and safety staff to lead to more proactive risk assessment.

Apr 16, 2024

By R J. Romañach

The theory of sampling (TOS) is now followed in the development of near infrared (NIR) spectroscopic methods for the pharmaceutical industry. TOS has been the guiding light for a two-step approach for spectroscopic composite sampling available for the development of real-time analytical methods for particulate-based industrial processes. The two-step spectroscopic sample composite has been used in the development of process analytical technology (PAT), an important regulatory initiative to improve the quality of pharmaceutical products. The two-step sample composite approach overcomes the low sample volume analysed by PAT methods; one of the key limitations to PAT implementation in the industrial production of particulate-based materials.PAT methods need to be validated demonstrating their accuracy, precision, specificity and robustness. TOS provides a deeper understanding of these validation studies which involve discrete particulate material. The validation of PAT methods is now being performed considering both sampling and analytical errors, while practically all previous method validations only addressed the total analytical error (TAE) of these methods. This has been a crucial impediment for the field of chemometrics as well.PAT is a key element of continuous manufacturing (CM) processes, which are considered an emerging technology capable of increasing the flexibility, agility and robustness of pharmaceutical processes while reducing their costs. The outflow of the continuous process is a 1D lot, and variographic analysis has been shown to discern process variation from sampling and analytical errors in pharmaceutical CM processes. Thus, variographic analysis is a process improvement tool with significant potential for improving CM processes. The possibilities for improving pharmaceutical manufacturing are enormous.CITATION:Romañach, R J, 2017. Theory of Sampling – from missing link to key enabler for process analytical technology, in Proceedings Eighth World Conference on Sampling and Blending , pp 63–68 (The Australasian Institute of Mining and Metallurgy: Melbourne).

May 9, 2017

By M Saghaeian, A H. Baladastian, A Dehghani Ahmadabadi, V Sheikhzadeh, R Hejazi

This research was done to reduce silica from mixed hematite concentrate of Barfkar Iron Ore Sample and increase Fe grade using reverse flotation method (Depressing Hematite and floating Silica). The used sample in the reverse flotation tests was a mixture containing two types of hematite concentrates (Spiral cleaner concentrate and Slon-VPHGMS cleaner concentrate) with the percentage of 16 per cent and 84 per cent, respectively. Fe grade of two samples was 59.31 per cent and 57.52 per cent and SiO2 grade was 5.83 per cent and 6.71 per cent, respectively. After mixing, the Fe and SiO2 grade of the mixed sample was measured at 58.10 per cent and 6.20 per cent. For flotation tests, effect of variable operational parameters including feed size distribution (d80 = 130 microns and d80 = 53 microns), pulp solidity (25 per cent and 30 per cent w/w), pH (9.70, 10.20 and 11), Sodium silicate as a dispersant (500, 1000 and 2000 g/ton), Starch as a depressant (500, 1000, 2000 and 3000 g/ton) and EDA as a collector (180, 300, 400 and 500 g/ton) were investigated. For evaluating the influence of Sodium silicate and Starch dosage, initial flotation tests were performed on the main sample (d80 = 130 microns). These two parameters had no significant effects on the yield, Fe, and SiO2 grade of flotation concentrate based on test results. In the next step, screen analysis was carried out on the main sample for mineralogical studies. Accordingly, the suitable size distribution for releasing Fe and SiO2 particles was smaller than 53 microns. Therefore, the sample was crushed until d80 = 53 microns. Then, supplementary tests were performed on the crushed sample for studying the pH range, pulp solidity, and EDA collector dosage. After doing silica removal flotation tests based on the designed pattern and comparison of the results, the conditions consisting of size distribution d80 = 53 microns, pulp solidity 25 per cent, pH 10.20, Sodium silicate 1000 g/ton, Starch 1000 g/ton, and EDA 500 g/ton was selected as optimum values. In the last test, Fe and SiO2 grade was measured at 60.00 per cent and 3.93 per cent, respectively, and Fe recovery was obtained at 74.93 per cent.

Aug 24, 2022

By A T. Spathis, K E. Leslie, K R. Blay

Many open pit mining operations seek to control blasting-related movement of ore and waste to minimise loss and dilution. Tracking the movement of ore boundaries can result in the maximisation of ore recovery and minimisation of waste sent to the mill, thereby optimising the economic performance of the operation.A novel solution for tracking the ore–waste boundary location before and after a blast uses subsurface markers placed along the boundary with all measurements and scans conducted remotely from the blast block. Upon system activation, user-operated equipment on the surface determines the three-dimensional (3D) location of the subsurface markers.The patented system concept combines two electromagnetic mechanisms, magnetic positioning and radio frequency through-rock communications to enable remote battery-powered markers, buried within the rock to be accurately located in 3D space.Field trials at a quarry have demonstrated the system can comfortably handle over 100 subsurface markers with a complete scan, including set-up, taking less than an hour. Location accuracy for each marker in 3D space is better than 0.5 m at a range up to 50 m from the magnetic source, and the system has an overall operational range in excess of 75 m.CITATION:Blay, K R, Spathis, A T and Leslie, K E, 2015. A remote, rapid and accurate three-dimensional ore waste boundary tracking system, in Proceedings 11th International Symposium on Rock Fragmentation by Blasting, pp 297–306 (The Australasian Institute of Mining and Metallurgy: Melbourne).

Aug 24, 2015

At Bulong, the mineralised (>0.8 per cent nickel) ore exists within numerous lithologies, which can and do occur coincidently. It is very important to discriminate between the different host units for estimation purposes, stockpiling and scheduling. This allocation of host unit has relied upon visual interpretation by the geologist recording the information, which can be very subjective by its nature. By using quantified constraints, such as assayed magnesium oxide and iron, the subjectivity of describing the host material of nickel laterite ore is reduced. The constraints permit consistent identification of the various host units, which improves the confidence in the overall estimation and scheduling of the ore.

Jan 1, 2000

By G Harbort, V Lawson

Mount Isa Mines Limited operates one of the worldÆs largest underground mines in North West Queensland. ItÆs mining and smelting complex produces copper anode, crude lead bullion (containing silver), and zinc concentrate. Copper is recovered in the Copper Concentrator from chalcopyrite ore, converter smelter slag and rotary holding furnace (RHF) slag via grinding and flotation operations. During 2002 a project to optimise cleaner circuit capacity was commenced. Its aims were to minimise copper losses and minimise slag/chalcopyrite cross contamination by reconfiguring existing flotation equipment and the addition of new flotation capacity. To minimise cross contamination a Jameson Cell was installed and dedicated to cleaning of slag concentrates, which had formerly been conducted by three flotation columns operating in series. The flotation columns were re-configured to operate in parallel and dedicated to upgrading chalcopyrite concentrate. In addition a Jameson Cell was installed to reject entrained copper from a prefloat concentrate consisting of talc and carbonaceous pyrite. This paper discusses the logic behind the cleaner circuit expansion, recent test work relating to the Jameson Cell and the installation and commissioning phases. Difficulties relating to the commissioning are reviewed and the solutions to problems are highlighted. The benefits the reconfigured circuit has provided to Mount Isa Mines are also discussed.

Jan 1, 2003

By T G. Vizcarra, T J. Napier-Munn, A T. Karbowiak, M G. Hart

Squeezing extra performance from existing equipment (‘sweating the assets’) is key to continuous improvement initiatives, particularly during times of cost cutting where the option of spending additional capital to facilitate circuit upgrades can be severely constrained. A common challenge, however, is identifying the best combination of settings for different process variables, as their effects can be camouflaged by interactions with other process variables and, of course, noise in historical data.This paper describes a recent investigation at Boyne Smelters Limited to identify strategies to coarsen the product of its dry, fixed-speed, open-circuit AG mill, without the need for installing pre-screens prior to the mill. The product is used as insulation material for the reduction of alumina to aluminium, and an excessively fine product was inhibiting the ability of the cover material to dissipate heat from the underlying anodes. The approach was to undertake a series of experiments, designed according to statistical criteria, to elucidate the effect of key process variables (feed blend and power draw) upon the product sizing. The results provided clarity about what strategies would encourage the production of a more desirable mill product (with some surprises). The study is a good example of how properly designed experiments can identify hidden potential in processing circuits, thereby mitigating the need for capital-intensive upgrades.CITATION:Vizcarra, T G, Hart, M G, Karbowiak, A T and Napier-Munn, T J, 2018. Getting the most from existing processes: using cleverly designed experiments to optimise the line 3 AG mill at Boyne Smelters Limited, in Proceedings 14th AusIMM Mill Operators' Conference 2018, pp 207–216 (The Australasian Institute of Mining and Metallurgy: Melbourne).

Aug 29, 2018

By S Davidge, J Pile, R Schumann, E Kepe, W Stewart, M Ridd, B Rathi

Geographical constraints, including steep terrain and high rainfall, at the Ok Tedi copper-gold mine in PNG’s Western Province present Ok Tedi Mining Limited (OTML) with significant challenges in mine waste management. Waste management includes discharge of tailings into the local river system and storage of waste rock from the mine pit in waste rock dumps which erode into the river system. Copper bearing skarn mineralisation is associated with a massive sulfide (mainly pyrite) deposit. Consequently, waste rock and tailings can contain significant amounts of pyrite. Without appropriate management, these waste streams represent a risk of producing acid and metalliferous drainage (AMD) when discharged to the river system. Throughout the life of the project, OTML have developed evolving strategies to manage mine wastes and mitigate AMD.

Aug 2, 2023

By Lu S, Zhou S

The flash smelting technology employed in Jinchuan demands a better mineral processing concentrate with an MgO content below 6.5 per cent. Two ways for MgO removal have been investigated in detail based on properties and process mineralogical characteristics of the rich ores in the number one mining area in Jinchuan. The key to the first way is the use of a new flowsheet which has two-stage grinding and separation followed by single-stage regrinding and multi-stage cleaning for the rougher concentrate. The second approach utilises two novel reagents, AT-131 and AT-202, which have been developed recently. Excellent metallurgical performance has been obtained in a commercial test and a batch test, respectively. The MgO content of flotation concentrate can be reduced to about six per cent.

Jan 1, 1996

By T Baumgartl, B Richards

The association of specific plants and plant communities with soils developed over underlying superficial orebodies and mineralisation has been long recognised. It has given rise to the use of plant indicators for geobotanical exploration as a regular component of primary minerals reconnaissance where there is an undisturbed vegetation cover. That the chemical composition of indicator plants is a measure of their soil environment has further led to biogeochemical prospecting methods for minerals and its use in the mapping of underlying ore deposits. Where there is a strong surface expression of metal and metalloid anomalies, concentrations of potentially phytotoxic elements may reach a level at which they have strong selective impacts on plant populations. In such circumstances, natural selection has operated in the development of a unique flora composed of plant species and individuals with genetically-based tolerances to the stressed environment in which they continue to survive. These plants are called metallophytes. Metallophytes occur globally on all metalliferous sites, both in pristine undisturbed environments and in areas of mineral workings, ancient and modern. However, the best-developed primary metallophyte vegetation is found in the most ancient areas where there has been a long-term evolutionary impact of the underlying geology through ore weathering and dispersion of metals into the rhizosphere zone. Natural selection of metal-tolerant races of plants in these largely undisturbed areas can eventually lead to speciation and the development of an endemic regional metallophyte flora (Baker et al , 2010). Mineral wastes resulting from mining activities also allow colonisation by metal-tolerant individuals leading to the establishment of metallophyte communities. The distribution and extent of such communities is determined by regional and local factors relating to climate and substrate conditions and the availability of suitable plant resources on which natural selection can operate (Baker, 2009).The ability of metallophytes to tolerate extreme metal concentrations commends them as the optimal choice for ecological restoration of mineral wastes and metal-contaminated sites. Metallophytes have recently also spawned several novel phytotechnologies, including phytoremediation and phytomining (Chaney et al, 2000, 2005; Baker and Whiting, 2008). Action towards conserving the global metallophyte resource base is imperative because many species are under threat of extinction from new and extensive mining activities (Whiting et al, 2004). This has been identified as a priority in the Mining, Minerals and Sustainable Development (MMSD) Project of the Global Mining Initiative in 2002 but positive responses from the minerals industry have been slow. The last decade has, however, seen an ever-increasing interest in metal-tolerant and metal-accumulating plants, both from an academic standpoint and their use in revegetation and phytostabilisation (Tordoff et al, 2000; Baker and Whiting, 2008; Baker, 2009). Few studies have highlighted the need to conserve and develop these unique plants (Whiting et al , 2004). This presentation identifies future research needs for the conservation and exploitation of the global metallophyte biodiversity and its potential in sustainable mine closure. CITATION:Baumgartl, T and Richards, B, 2012. Evaporation and salt transport under variable climatic conditions, in Proceedings Life-of-Mine 2012 , pp 179-186 (The Australasian Institute of Mining and Metallurgy: Melbourne).

Jul 10, 2012

By M Recabarren, A Echeverria, J Ronda, J I. Guzman, R Dodds, G Juarez, E Vila-Echague

A strategic mine plan is a fundamental part of any mining operation. It must provide a realistic and operative extraction and processing schedule, and yield the highest value for the business. For open pit mines, the problem can be modelled as a set of blocks representing the deposit, for each of which we need to decide if it is going to be mined, if so, when and where it will be sent (process, stock or dump).This problem can be proven to be of NP-Hard complexity. The traditional approach used by mining engineers to tackle this complexity is to separate the problem into more tractable components, solving each separately. The first step is to use the Lerchs-Grossman (LG) algorithm to obtain the final pit limit, as well as a set of optimised pit shells (nested pits), using different input prices. Then, using this input, operational phases are designed. Third, the set of phases can be used as an input for a phase-bench style optimisation, usually using a mathematical programming-based algorithm.There are, however, several problems with this approach. First, dividing the problem into simpler parts has the consequence that any compromises made at early stages limit the potential value left for the following steps. Second, LG is a static algorithm, with no concept of the time-value of money, capacity limits, opportunity costs, etc. Phase design is essentially a manual step, for which nested pits provide insufficient information in practice, and therefore the quality of the result in terms of potential net present value (NPV) depends strongly on the experience and expertise of the designer. This means that key input data such as commodity prices, different processes capacities and mine movement limits, are considered only at scheduling, when there is little room for optimisation. This sequential approach limits the potential value in each step, where a simplified problem is addressed, instead of addressing the real, and more complex problem, which is dynamic and should be solved as a whole.We present in this paper an algorithm, and its commercial software implementation, that addresses the dynamic problem as a whole, simultaneously and automatically creating a high-value strategic mine plan that adheres to basic operational constraints, determining dynamic cut-off grades and delivering a set of phases which can serve as a much stronger guide than nested pits for the final design. We discuss some of the key elements of the algorithm and propose a new methodology for strategic mine planning, where phase design dynamically responds to mining strategy definition. Results using different mining and operational parameters on a fictitious copper deposit are used as a demonstrative example.CITATION:Juarez, G, Dodds, R, Echeverria, A, Guzman, J I, Recabarren, M, Ronda, J and Vila-Echague, E, 2014. Open pit strategic mine planning with automatic phase generation, in Proceedings Orebody Modelling and Strategic Mine Planning Symposium 2014 , pp 147–154 (The Australasian Institute of Mining and Metallurgy: Melbourne).

Nov 24, 2014

By D Joshi, J Rostami, M Karakus, A Eustes

The first target of mining activities on the surface of the moon is to find and extract water from the icy regolith on the moon. A test drilling unit was designed and fabricated under a NASA Early Stage Innovation (ESI) grant. A high-frequency data acquisition system was used to record drilling responses at 1000 Hz. Parameters like weight on bit (WOB), torque, rev/min, rate of penetration (ROP), mechanical specific energy (MSE), field penetration index (FPI), and the uniaxial compressive strength (UCS) were recorded for 40 boreholes in the analog samples made of regolith simulant and specialised cement. Development of the AI system and machine learning (ML) algorithms for analysis of data to evaluate strength and hence water content of icy regolith required a large data set. In this case, the data set comprising of more than one billion data points recorded while drilling into various analogue samples and cryogenic lunar formations to optimise power consumption and make bit wear adjustment during drilling operations. The tests were also repeated in the samples of icy regolith at various water content at -190C to verify the ability of the algorithms to analyse the data and to estimate the strength of the frozen formation and hence water content. The paper will discuss the objectives and methodologies used in the project and reviews the testing program and the machine learning (ML) algorithms ability to identify various formations along the exploration boreholes.

Sep 1, 2024

By P Marianelli, J Theiler, B Beamish, A Spillman

The presence of reactive pyrite in waste rock contributes to the hazard of spontaneous combustion in emplacement facilities as it acts as an initiator of self-heating at low ambient temperatures. Organic carbon also present in the waste rocks acts as a fuel at elevated temperatures above 120°C and can lead to thermal runaway resulting in eventual ignition. A new laboratory test method (adiabatic incubation testing) is now available that can identify the presence of reactive pyrite and quantify the self-heating behaviour of the waste rock. McArthur River Mine has a waste rock profile that contains pyritic shale units, which have created spontaneous combustion events in the past. A systematic sampling and testing program is underway to characterise the spontaneous combustion hazard likelihood of the McArthur River Mine waste rocks to provide a sound database for future mine planning of the waste removal and emplacement. This paper presents some initial outcomes of this program and shows the leading practice in spontaneous combustion hazard assessment and management that has been adopted at McArthur River.CITATION:Beamish, B, Marianelli, P, Theiler, J and Spillman, A, 2018. Spontaneous combustion hazard assessment of McArthur River Mine waste rock, in Proceedings Mine Waste and Tailings Stewardship Conference 2018, pp 422–426 (The Australasian Institute of Mining and Metallurgy: Melbourne).

Jul 23, 2018

By D La Rosa, K Caron, H Mamani, W Valery, R Diaz

The Gold Fields Cerro Corona copper-gold deposit in Peru has heterogeneous rock characteristics in terms of its mineralogical, geological and geotechnical properties. Blast design variations in these conditions directly impact the run-of-mine (ROM) fragmentation, which in turn influences downstream process efficiencies. In particular, when harder ore is processed, throughput and circuit performance may be limited.To evaluate the potential to increase throughput and improve overall plant performance by optimising blasting practices and comminution circuit operation, Gold Fields La Cima engaged Metso Process Technology and Innovation (PTI) to conduct a full process integration and optimisation project at Cerro Corona. Blasting, crushing and grinding processes were reviewed to identify the potential to achieve substantial improvements in productivity when treating the most competent ore types.Site-specific models of the blasting, crushing and milling processes were developed using SmartTagTM ore tracking technology for calibration and validation. Ore tracking permitted locations in the blast volume to be queried against the geotechnical block model to determine the hardness and structural parameters of the feed to the comminution circuit. They also ensured surveys were conducted when ore from the audit blast was flowing through the crushing and grinding circuits.The predictive models developed enabled PTI to demonstrate how changes in blast design influenced both ROM fragmentation and the performance of downstream comminution processes. Outcomes of the project suggested changes to blast designs and comminution practices, and these were partially implemented for a validation trial. The trial demonstrated a 14.8 per cent increase in mill throughput for the specific ore selected for the study, and an average increase of 5.7 per cent for all ore types. There is potential to further increase throughput and process performance if all recommendations are implemented. This paper describes the methodology used and benefits to the operation from the mine to plant.CITATION:La Rosa, D, Caron, K, Valery, W, Diaz, R and Mamani, H, 2015. Blast fragmentation impacts on downstream processing at Goldfields Cerro Corona, in Proceedings 11th International Symposium on Rock Fragmentation by Blasting, pp 333–342 (The Australasian Institute of Mining and Metallurgy: Melbourne).

Aug 24, 2015

Froth flotation is widely used for the separation of particulate materials in the world. It is a complex process whose operational behaviour in process plants is difficult to predict. A comprehensive phenomenological dynamic flotation model was presented at the 1982 IMPC. This model uniquely linked the particle/bubble interactions and water transport phenomena to the flotation cell hydrodynamics. The model was used as a dynamic framework to analyse and develop process optimisation strategies. New developments in mineralogical characterisation, real time information management systems and data validation simplify the implementation of flotation technologies for mine to mill grade recovery optimisation. With recent developments in software programming, dynamic simulation enables process engineers to develop process alternatives interactively. This paper presents such an implementation of current process analysis tools and an updated froth flotation dynamic model. It demonstrates how this new environment can be used to improve our technological knowledge of flotation, eg alternative bubble/particle attachment and detachment microprocesses can be incorporated. The dynamic flotation model has several manipulated variables (such as feed flow rate, per cent solids, aeration, wash water flow rate, frother flow rate, specific power energy (impeller speed/delta pressure), cell geometry and tails flow rate) and evaluates the dynamic effects of these variables on grade and recovery.

Jan 1, 2005

By L. R. MURPHY

This paper gives a general description of mining operations at the Rosebery Mine and a brief account of the older Hercules Mine. The more unusual aspects of the operations, such as the sinking of the inclined shaft, blast-hole experiments, diamond drilling practice, and proposed future developments are described in detail.The following main heads are used:Roseberry- General production Data.General Description of Ore-body, and Characteristics of Ore and Country Rock.Layout of MineMining Methods, Filling, etc.Blast Hole Stoping.Sinking Main Inclined Shaft.Mining Timber. Contract System.Diamond Drilling and Sampling.Surveying.Labour Force.New Developments, Sand Filling and Pumping.Hercules-Situation of Mine.Transport-Haulage and Aerial.Ore Bodies.Stoping Methods.Ore Handling.

Jan 1, 1949

During the first five years of operation, the Lihir gold mine has steadily increased plant throughput rate to over 4 Mtpa, well above the original design capacity of 2.8 Mtpa. Understanding how future variations in ore type impact on plant performance has been an integral part of LihirÆs development program. This paper discusses the key drivers for significant improvements to the plant, including a second oxygen plant, a pilot flotation plant, an autoclave heat recovery circuit, a pebble crushing circuit and additional autoclave feed pumping capacity. The result is a process plant with the flexibility to accommodate variations in ore type without significant loss of throughput.

Jan 1, 2003

By M Zoorabadi

Overcoring is a common technique to measure in situ rock stress using the concept of stress relief. The strains measured during overcoring are used to calculate the stress tensor assuming continuous, homogeneous, isotropic and linear elastic behaviour. This approach does not recognise any effect of the thickness of the rock annulus produced during overcoring instead assuming that the stresses are entirely a function of the difference in strain between the start of the overcoring and the end with no regard to the transient strains produced. Three-dimensional numerical modelling was used to simulate the overcoring process and investigate the impact of core diameter on the transient stresses and strains during overcoring. This study showed that in thicker core, maximum transient axial stresses and strains occur when the drill bit approaches the measuring point and greater tensile axial stresses were produced when the annulus was thinner. CITATION:Zoorabadi, M, 2018. Numerical study of annulus thickness on overcoring stress measurements, in Proceedings The Fourth Australasian Ground Control in Mining Conference (AusRock), pp 274–278 (The Australasian Institute of Mining and Metallurgy: Melbourne).

Nov 30, 2018

By C T. Dunbar, P A. Walker, G E. LeJuge

A programme of blast improvement was initiated at the Mt Whaleback iron ore mine by BHPIO management in early-1998. One component of that work was the need to improve wall control blasting practices to better achieve the designed pit slope elements. This paper describes the geological conditions in which pit walls are developed, the mine operating equipment, the blast design concepts applied to minimise blast damage, the techniques applied in an assessment of the blast performance and the operational procedures developed to ensure that the blast concepts are effectively implemented in the production environment. Substantial changes have been implemented in both technical and operational aspects of the mining operation in order to achieve the improvements in pit wall condition, in particular recognising the need for a more flexible approach to limits blasting in response to highly variable and complex geology. The benefits to the mine are not only an improved wall condition, but increased confidence on the part of mine management that mine plans may be implemented on design and on schedule.

Jan 1, 2001

By A Grace, C Sennersten, T Taylor, A Davie, R Lyu, D Pentecost, C A. Lindley, J Craig, L De Macedo Camargo

Many underground mine void spaces are not suitable for human entry due to unprotected roofs, instability or having an unknown safety state (eg if they are many decades old). Investigations of these voids may nevertheless be important for general mine safety, for example to detect propagating collapses or water accumulation, prevent accidental intrusion by new developments or drilling to reassess old spaces for re-mining. Robots are an ideal technology for investigating these spaces, especially flying, rotary-wing robots that can access and map vertical structures and spaces while avoiding rocks, water and mud that have accumulated on void floors. To operate in underground mines, we are developing customised unmanned aerial vehicles (UAVs) as well as interactive 3D virtual models of the vehicles and their underground environments for controlling vehicle operation and visualising incrementally gathered survey data. Using a game/simulation engine to provide an interactive interface for UAV operation makes it possible to orchestrate external spatial information and video feeds with in-game cameras for optimal visualisation that is not limited to the position, orientation or field of view of cameras mounted on the UAV. First and third-person points of view with respect to the UAV are provided, together with 2D and 3D gaze tracking to provide effective interfaces for geology and mine engineering experts without the need for specialist UAV piloting skills. Ongoing work is addressing the provision of greater levels of autonomy for these vehicles to support mapping well beyond the line of sight of operators and geological characterisation of rock surfaces using sensors mounted on them, including miniature X-ray fluorescence and Raman spectrometers. Gathered data is fed into more general 3D models of the mine, block models and orebody so that the UAVs function as elements of a mobile perceptual system for intelligent mining.CITATION:Sennersten, C, Lindley, C A, Davie, A, Lyu, R, Grace, A, Evans, B, Pentecost, D, Taylor, T, De Macedo Camargo, L, Craig, J, Salomao, G N, Hellicar, A, Biggins, D, Timms, G, Coombe, M, Shahriar, M S, Smith, G and Rahman, A, 2015. Unmanned aerial robots for remotely operated and autonomous surveying in inaccessible underground mine voids, in Proceedings Third International Future Mining Conference, pp 101–108 (The Australasian Institute of Mining and Metallurgy: Melbourne).

Nov 4, 2015