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This symposium is dedicated to the lifetime achievements of Professor H.Y. Sohn. It covers the scientific fields, processing routes and investigation techniques in which Prof. Sohn has worked during his career and is based in the equally important three topical areas: Principles, Technologies, and Industrial practice. Professor Sohn was General Chair of the very first TMS Fall Extraction and Processing Symposium in 1983 in San Francisco which led to the Annual such symposia as this International symposium. Furthermore, the theme of that symposium was sulfide smelting, which is also included in this symposium. [ ] Professor Sohn was born in a beautiful dynastic capital Kaesung, Korea on August 21, 1941. He received his B.S. degree in 1962 from Seoul National University, M.Sc. in 1966 from the University of New Brunswick, Fredericton, N.B., Canada, and his Ph.D. degree in 1970 from theUniversity of California at Berkeley all in Chemical Engineering. After working as a Research Associate at the State University of New York at Buffalo and as a Research Engineer at Du Pont?s Engineering Technology Laboratory, Dr. Sohn joined the Department of Metallurgical Engineering at the University of Utah in 1974 and currently holds the ranks of Professor of Metallurgical Engineering and Adjunct Professor of Chemical Engineering.

Jan 1, 2006

By D. D. Pollock, G. P. Conard II

Equations of the form of the Mott and Jones equations for the absolute thermoelectric powers of metals are derived primarily from a thermodynamic approach. The behaviors of transition thermoelements in common use are then examined and compared with this simple theory. MOTT and ones' derived a general expression for the absolute thermoelectric behavior of metals and alloys using the approach of the solid state physicist. This expression was then applied to specific cases.1,2 The present work develops equations of the same form principally by a thermodynamic approach. These relationships are then employed to gain some insight to the behavior of the transition thermoelements in common use. I) DERIVATION OF AN EXPRESSION FOR ABSOLUTE THERMOELECTRIC POWER First consider a metallic conductor which is maintained in a temperature gradient with no current flowing. At constant pressure, there will be a gradient of the free energy (F,) given by:

Jan 1, 1963

By Dever C. Ashmead

FRom time to time metal-mine engineers have inquired why anthracitc mines and their preparators are rarely operated on the two or three-shift basis. The subject may be approached as affecting: labor, development, the underground workers, the preparator, the outside workers, capital, the supply account, power consumption, the storage of coal over various shifts, railroad car supply, and the market. Labor From the start, the adoption of a plan of three full-shift operations in a day would cause difficulty with the colliery employees, for they have never worked on that plan and would show their resentment by suspending work. Even if they could be induced to work according to this schedule they would not be as efficient, for they would be working more or less unwillingly at hours at which they are accustomed to rest. Operation on a three-shift basis would necessitate triple manning of each working place, and dissensions would arise between the men, for each shift would claim that the preceding shift had taken undue advantage and had not left as favorable conditions as it had found. To obviate these disputes it might be [necessary to let out the work to a contractor, who would hire his helpers to mine out the chamber, or breast. The state mining law requires that a miner be put in charge of each working place. To conform with this provision he would have to hire three helpers and two miners to mine the breast. The labor unions have been trying to abolish the subcontractor in mine work and any method of working that would cause his return, however innocent in purpose, would result in labor disturbances. It might be possible to form partnerships of three miners working a place together, but these men would be quite likely to have frequent dissensions as to the proportion of work performed by each shift. Only

Jan 1, 1923

By James R. Aggson, Verne E. Hooker

GENERAL CONSIDERATIONS The design of a mine or any underground opening in rock is similar to the design of any other structure, such as a building or a bridge, in one important way. This similarity lies in the fact that the stability of the structure is a function of the loads that will be applied during the structure's expected lifetime. In the case of an underground opening, the applied load is the product of the existing in situ stress field and the concentration of this field that is produced by the extraction of a load¬bearing material. Thus, a knowledge of the in situ stress field is considered a basic requirement in the design process and essential to the eventual stability of the underground structure (Duvall, 1976; Obert, 1972; Merrill and Peterson, 1961; Dahl and von Schonfeldt, 1976; Hedley and Wilson, 1975). The in situ stress field can be used along with the physical properties of the rock masses involved, the ge¬ometry of the various rock types, the geometry of the openings involved, and a failure criterion to evaluate structural stability of a planned mine by theoretical or numerical techniques. This same information can be used to investigate ground control problems in existing mines. In situ rock stress determinations can be separated into three categories: the determination of applied stress, also called the absolute or field stress; the deter¬mination of concentrations of the field stress near open¬ ings; and the determination of changes in rock stress as load-bearing material is removed. The applied stress field is more difficult to determine than are stress changes. Various instruments and techniques have been developed to determine applied rock stress and stress changes in rock. ABSOLUTE OR FIELD STRESSES Theoretical Considerations In the absence of actual measurements, it is often assumed that at any point, the vertical stress is equal to the weight of the overlying material. [ ] where S„ is vertical stress, S is average weight density of overburden rock, and h is depth from the surface. This is normally consistent with actual experience. The horizontal stresses are assumed to be equal and related to the vertical stress through the Poisson effect. [] where Sh is horizontal stress, S„ is vertical stress, and v is Poisson's ratio. The derivation of Eq. 2 is dependent on lateral con¬finement of the rock mass. An increasing amount of information is rapidly becoming available which indi¬cates that the in situ stress field at a particular location cannot simply be assumed to be a gravity-induced stress distribution in which the secondary principal stresses in the horizontal plane are due to confinement and Pois¬son's effect. Rather they can be a complex function of gravity loading, regional stresses, structural features, ex¬cavation geometries, and variations in surface and/or possibly basement rock topography. Furthermore, the underground principal stress dis¬tribution is not necessarily vertical and horizontal as is often assumed. The deviation of the three-dimensional stress distribution from vertical and horizontal can be due to a combination of both topographic (Hooker, Bickel, and Aggson, 1972) and structural features.

Jan 1, 1982

This publication summarizes the Bureau's activities as part of a study of the Juneau Mining District (JMD) during the period 1984-1988. The objectives of the program were to identify the type, amount, and distribution of mineral deposits in the district, determine ore reserves, study beneficiation technologies for the ore, make feasibility studies, and address economic and legislative effects on mineral development. The JMD study was a cooperative study involving the Bureau and the Alaska Division of Geological and Geophysical Surveys (ADGGS). Over 30 employee-years were spent by the Bureau on this project. Bureau investigations in the JMD consisted of a district-wide investigation of industrial materials in addition to site-specific investigations of precious and base metals in five subareas. During the 4 years of the JMD study, more than 300 areas, mines, prospects, and occurrences were visited, which contain gold, silver, copper, zinc, lead, nickel, cobalt, tungsten, molybdenum, chromium, and platinum group metals (PGM). More than 59,000 feet of underground workings were mapped and sampled. More than 5,500 samples were taken; one diamond drilling program and three geophysical surveys were completed. An up-to-date and complete mineral data base for the JMD did not exist prior to this study. The JMD study, which coincided with a tremendous increase in mineral interest and activity in the district, has proven to be valuable to both the minerals industry and land management agencies. The discovery of two new mineral occurrences and compilation of data on known mines, prospects, and occurrences have aided industry activity in the region. The study enabled timely data to be available to land management agencies at the Federal, State, and municipal levels.

Jan 1, 2012

By W. Dan Walker

In recent years the Federal Bureau of Mines tested and approved four new types of self-contained breathing apparatus and a facepiece designed for use with the McCaa 2-hour self-contained oxygen breathing apparatus. The Bureau also developed and perfected a battery-powered lifeline telephone for use in mine rescue and recovery operations. Some of this equipment is described in Bureau of Mines Information Circular 7413.4/ This publication is a revision of information Circular 7413 and presents pertinent information on more recently developed mine rescue equipment. The breathing apparatus described herein are 1/2- and 3/4-hour sell-contained types of much simpler design than the conventional 2-hour self-contained oxygen breathing apparatus ordinarily used by mine rescue crews; however, it is just as important to select rescue crews carefully and to train them properly in the use, care, and limitations of the newer types of apparatus as well as the older, established types, if the newer types are to be used safely. The Bureau of Mines recommends that 1/2- and 3/4-hour self-contained breathing apparatus be used only as auxiliary equipment in mine rescue and recovery work and that the capabilities and limitations of the apparatus should be well understood by those who wear the equipment.

Jan 1, 1957

At 5:30 p.m. a social hour was held for all RMCMI registrants on the lawn area south of the Gondola Lift House. This was followed by a western steak fry and dancing to the country western band, "The Cat's Night Out". MORNING SESSION Tuesday, June 29,1982 RMCMI golfers came out in force for a shot-gun start of the Championship Golf Tournament at Vail Municipal Golf Course which began its first session at 7:30 a.m. followed by a second at 1:15 p.m. The tournament was headed by William Carpender, chairman and his committee members Gary Bennewitz, Jr. and Gene Christmann. RMCMI members were treated to early morning rolls and coffee in the Conference Center preceding a showing of the RMCMI slide/tape program on enhancing the image of coal mining, by telling the story of the Institute. Following this, the meeting was called to order by President McKeever at 8:30 a.m. when he introduced Mr. Carl Terzian who presented a workshop entitled "Sure You Have an Image - But What Kind?". MR. McKEEVER: Good morning Carl. I see you're ready to address this bright and busy tail audience. One of the things that I really want to point out this morning and I knew we would have a second chance with Carl Terzian but Carl is someone that will leave a good lasting impression on you and what he will hopefully be talking about, as I remember, is that what he's saying here can be used personally, or for company, or for the Institute, or anything else on image. Carl is Chairman of the Board of Carl Terzian Associates. He is a prominent author, lecturer and consultant. He is headquartered in Los Angeles and he's nationally known: governmental affairs, man¬agerial development and executive speech training and has served nearly four hundred clients since 1969. Each year he travels nearly 300,000 miles to address conventions, conferences and sales and management meetings as a motivational speaker. Carl has been speaking professionally for more than twenty-five years. He was graduate magna cum laude 1957 from the University of Southern California where he was elected Phi Beta Kappa and student body president. He later served as State Department goodwill ambassador for President Eisenhower; public relations director for Lutheran Hospital Society of Southern California; dean and professor of political science and speech at Woodbury University and public affairs director for architect Charles Luckman. He has been honored for his civic and philanthropic and professional accomplishments by the Congress and State Department, California Assembly and Senate, City and County of Los Angeles, Her Majesty the Queen of England, and six times by the Freedom Foundation of Valley Forge. Carl, welcome to our Coal Mining Institute and it's been kind of a historical situation on Tuesday morning that we will probably have people straggling in after that wonderful steak fry that we had last night. You're very welcome to come and takeover the command. MR. TERZIAN: Thank you very much Ira. This gives me an opportunity for those who were in my luncheon audience yesterday to again thank you for giving me the opportunity of that platform and for the very kind comments that were made following the address. Those of us who had been working for some months with Ira, Charlie, Betsy and many

Jan 1, 1982

By N. Melnyk

"FOREWORDThis paper provides a unique description of a method devised for mining a very thick steeply dipping seam of soft gassy coal which was prone to spontaneous combustion. The editors con¬sider that the information in this paper should be important to those who may have to consider mining such seams again at some time in the future and therefore believe that the paper warrants reprinting in the present volume. The author was ask¬ed to review the paper and to add any additional relevant in¬formation. He provided the accompanying footnote, only a month before his death on April 22, 1982.IntroductionIn the past, the Cadomin Coal Company has opened four mines, all in the same coal seam or its folds. Three of these were opened from river level by horizontal entries or rock tunnels. and the fourth, the present working mine, by vertical shafts. This paper deals largely with some operating phases of this fourth mine, with which the writer has been associated.The seam worked here is a thick, steep, bituminous seam, and the writer feels there is a paucity of published data on the mining of such seams. Possible reasons for this are that such seams do not lend themselves to intensive development or mining, there is little chance to mechanize because of the extreme pitch, and operations are fraught with many problems. In addition the present operations in this particular' seam are being carried on at a level below the former workings, introducing new problems, not encountered on the upper level.Coal will, without question, long continue to be an impor¬tant factor in the national economy, and some of the best coal is to be found in thick, steep seams. But with the exhaustion of the easily-mined coal near the outcrops, future coal will have to come more and more from lower levels. At Cadomin there is still considerable coal on the second level, below the old river-workings, and there is a possibility that, in the future, still lower levels will be worked. It is the purpose of this paper to indicate some phases of such lower-level operations and to invite discussion."

Jan 1, 1985

By R. Benito

This paper describes the development of a life-of-mine schedule (LOM) for one of the world's largest known sedimentary copper-cobalt districts located in the Katanga Province, Democratic Republic of Congo (DRC). A particular feature of the Tenke Fungurume LOM schedule is the considerable number of pits/phases for scheduling, each competing to provide the best ore available to a capacity-constrained process facility. This paper discusses the LOM scheduling objectives and constraints, data preprocessing steps such as ore binning, block aggregation and clustering analysis as a scheduling aid, the mine scheduling approach and results and conclusions. Mining Engineering, 2011, Vol. 63, No. 8, pp. 39-47. Official publication of the Society for Mining, Metallurgy and Exploration, Inc.

Jan 1, 2011

By James K. Stanley

WHEN a plastically deformed metal is heated to a certain temperature, it undergoes a complete change in microstructure, the consequence of which is a marked alteration of mechanical properties such as hardness, strength and ductility. This change in microstructure occurs by recrystallization and is a process involving the formation and growth of strain-free nuclei in the deformed matrix. These nuclei continue to form with time and grow until a new grain structure replaces the cold-worked structure. The formation of the nuclei in the deformed sheet of 1 per cent silicon ferrite is illustrated in Fig. 1. If a recrystallization is conducted isothermally, a measurement of the fraction of the matrix recrystallized plotted against time leads to an isothermal recrystallization curve, first established in 1942.1 Such recrystallization curves are shown in Fig. 4. These curves show that the recrystallization of a cold-worked metal is best considered as a rate process rather than a time independent process such as is suggested by the improperly named and misleading recrystallization diagrams involving deformation, temperature, and grain size. 2-5 Any study of the rate of recrystallization resolves itself into a study of the component rates of nucleation and growth. The previous paper' provided an account of the determination of the rates of nucleation; N, the number of nuclei formed per unit time per unit of unrecrystallized area, and growth, G, the radial growth in unit time, in the recrystallization of silicon ferrite (1 per cent Si). A method was developed to furnish experimental data for evaluating the effect of the recrystallization variables on N and G. The mathematical analysis for the derivation of the isothermal recrystallization curve was developed for a two-dimensional case (in thin sheets where the diameter of the recrystallized grain is greater than the sheet thickness). The present paper is a continuation of the study of recrystallization of 1 per cent silicon ferrite begun in 1942.1 In this work the effect of the factors deformation, temperature, grain size, composition, and recovery is studied with respect to the rates of nucleation and growth. At the same time it is shown how the cooperation of N and G affects the isothermal recrystallization curve. The study of these variables on N and G has a definite bearing on the mechanism of recrystallization and should lay a foundation for a rational theory on the subject. PROCEDURE The procedure used in these experiments was essentially the same as that described previously but in certain details some changes were made in the interests of speed. With few exceptions, the procedure is the same for the study of all the variables. Where the procedure is different from standard manipulations attention is called to this fact.

Jan 1, 1945

Portman Mining Pty Ltd very successfully operated the Ferro GullyNorth Mine in the Hamersley Province of Western Australia to satisfy a contract for the delivery of six million tonnes of iron ore in less than two years to the Mount Newman Mining Co Pty Ltd. The high-grade ore extracted from Ferro Gully North Mine was unusual in that, not only was it within the Joffre Member of the Brockman Formation, but it was rich in red ochreous hematite and martite and very low in phosphorus.

Jan 1, 2001

By Dick Green

During the recent troubles in Northern Ireland due to terrorist activities, there have been many buildings demolished or damaged by improvised explosives. This article explains about the Demolition of Churchill House in Belfast, the first controlled use explosives to demolish a high rise office building since the recent troubles started, and a further indication that normality is returning to the lovely city in Ireland.

Jan 1, 2006

By M. Rossi

Geologic ore controls are usually interpreted and modeled from cross sections and plans, as they are critical to construct meaningful and accurate ore reserves models. The geologic boundaries are often modeled as two-dimensional surfaces or three-dimensional solids and used as hard boundaries to constrain the grade estimates. In many cases, the geologic model is the most important factor in estimating the mineralized tonnage predicted by the reserves model, since it is generally drawn to separate the volumes of mineralized and waste material within the deposit. Because geologic models are interpreted from widely spaced drill hole data, the accuracy of the contacts of the different zones modeled could be poor. The lack of accuracy in the definition of geo-logic zones can have a significant impact on a resource model. In this paper it is shown that the geologic interpretation can and should be checked for potential biases. In particular, an unbiased overall volume of the original drill hole information with respect to the resulting solids and codes assigned to the block model is sought. In addition, geostatistical conditional simulations can be used to simulate the geologic attributes modeled, thus providing an alternative view of the geology, and a measure of the uncertainty of the geologic boundaries. The simulated geologic model provides an assessment of the impact of alternative geologic interpretations on the over-all uncertainty of the reserves model. In the case study presented here, the uncertainty of the geologic model is quantified for a difficult-to-model, high-grade copper deposit in northern Chile.

Jan 1, 2004

By David Langberg

Recovery of dissolved copper from discard slags is a critical consideration affecting the economics of copper smelting. Slag cleaning is frequently carried out in electric furnaces, however reduction by injection of natural gas in a holding furnace may offer a lower cost alternative in some circumstances. As the residence time of the injected gas is short, the factors controlling the rate of reduction need to be clarified in order to optimise the design of the slag cleaning furnace. A series of medium scale (200 kg) reduction tests to investigate the rate of reduction of copper-containing slags by injection of natural gas-nitrogen mixtures between 1150-1250C was carried out by CSIRO Minerals. The composition of the gas in the top-space of the reactor was found to be significantly more reducing than the slag, indicating that thermodynamic equilibrium was not established between the slag and the gas in the bubble plume. An apparent first order rate law was observed between the rate of oxygen elimination from the bath and the magnetite concentration of the bath. The dissolved copper concentration was closely correlated with the oxygen potential of the slag, suggesting a partial equilibrium between the dissolved components of the slag. The utilisation efficiency of the natural gas decreased as the natural gas flow rate was increased. The results of the tests tend to indicate that the rate is controlled by a mixed reaction kinetics/ mass transport mechanism. The work was supported by Xstrata Copper ? Mt Isa Mines.

Jan 1, 2006

Bureau of Economic Geology, The University of Texas, Austin, Texas. E H Sellards, Director. A price list of publications will be sent upon request. The following is a selected list of Bulletins available, taking first those describing the geology and mineral resources of a particular area in Texas, as noted: Bulletin 1750, Camp Bowie and vicinity (1917), 50 cents, 1816, Runnels County (1918), 40 cents, 1818, Dallas County (1918), 50 cents; 1850, Coke County (1920), 50 cents, 1860, Medina County (1920), 50 cents, 1869, East Texas (1919), $1; 1931, Tarrant County (1920), 50 cents; 1932, Bexar County (1920), 50 cents, 2229, Johnson County (1922), 40 cents, 2330, Potter County (1924), 50 cents, 2333, Colorado County (1924), 50 cents; 2340, McLennan County (1924), 40 cents; 2544, Denton County, $1, 2607, San Angelo formation and Foard County, 50 cents, 2710, Cooke County, 75 cents; 2738, Ft Stockton Quadrangle, 75 cents, 2807, Tom Greene County, 50 cents, 3038, Geology of the Glass Mountains, pt 1, $2 50, 3027, Stonewall County, 50 cents, 3016, Bell County, $1, Mineral resources of Williamson County, 25 cents; Mineral resources of Travis County, 25 cents, Mineral resources of Uvalde, Zavala and Maverick counties, 50 cents, 3125, Grayson County, 50 cents Bulletin 3232, The geology of Texas, vol 1, Stratigraphy, including a bibliography, is in press Other Bulletins of particular interest: Bulletin 3101, Contributions to geology (1931), $1, 3138, Underground waters and subsurface temperatures in the Woodbine Sand of northeast Texas, $1, 2801, Contributions to geology (1928), $1, 2901, Contributions to geology (1929), $1; 3001, Contributions to geology (1930), $1; 1725, Texas granites (1917), 50 cents, 1849, On the underground position of the Ellenburger formation in north-central Texas (1920), 25 cents; 2234, Report on Texas alkali lakes (1923), 40 cents; 2239, The producing horizon in the Rios well in Caldwell County (1922), 25 cents; 2346, Report on oil and gas possibilities of the University Block 46 in Culberson County (1924) 10 cents; 2539, The Lytton Springs oil field, 50 cents, 363, The deep boring at Spur, 75 cents, 2703, Microscopic

Jan 1, 1933

By Ajoy K. Ghose

INTRODUCTION Longwall mining made its debut in Indian coal mining scene around 1900. Despite this headstart, the application of the method has been slow and halting. Currently, there are some 16 operating longwall faces only in different Indian coalfields contributing to perhaps less than 3 percent of the total underground coal production. Ambitious plans for expansion of longwall mining notwithstanding, apprehensions on the cavability of Indian coalmeasure roof rocks and some unsavoury experiences with face collapses in caved longwalla have impeded wider adoption of the technique. Between 1960 and 1983, some 41 caved longwall faces were worked in Jharia, Raniganj, Karanpura and Korba Coalfields in India, of which 6 faces reportedly had collapsed(1). The first powered support longwall face was started in August 1978 at Monidih colliery which marked a major step forward in the introduction of advanced technological system in Indian coal industry. This paper attempts to analyse critically the experiences with longwall ground control in caved longwall faces in India. Experiences from powered support faces at Monidih, Dhemomain and Pathakhera are synthesized to provide an appraisal of the present status of caved longwall faces under the Indian coalmeasure roofs, which thus far have been characterised as “massive”. The geotechnical site factors at the powered support faces are evaluated and conclusions drawn on the pre-assessment of caving characteristics and support resistance required at the faces.

Jan 1, 1984

By McAuley T. J

Computer software is an integral part of mining operations today with many sites using six or more software packages on a daily basis. However, the use of these different programs generates the need for substantial staff training. The current trend toward large integrated packages to solve this problem is counter-productive because the relatively small companies producing specialised mining software do not have the resources to develop quality software with all the required features. Software standards are being proposed by various parties but recent history indicates these will be unsuccessful. An alternative approach is suggested using the various standards which have been developed for the Windows operating system.

Jan 1, 1995

By B. G. McNish

Neutron Activator Laboratory Analyzer used for Rapid Analysis for Ore Blending, Stripping, and Mine Control BAUXITE is a rock and not a mineral. Since it is a rock, its mineral content varies depending upon the parent material, the topographic location of the deposit and the severity of the weathering and oxidation processes which produced it. At Bauxite, Arkansas the major mineralogical constituent of the bauxite is gibbsite with ~IL- purities of silica, iron oxide, and titania minerals. Minor amounts of other minerals are found. Chemical composition varies from 45% to 60% alumina, 5% to 25% silica, 1% to 15% ferric oxide, and 1% to 3% titania. The Arkansas bauxite region is located entirely within the north- central area of the West Gulf Coastal Plain near the northwestern boundary with the Interior Highlands. The region trends northeast-southwest and is about 42 kilometers long. It is divided into two districts; one in Saline County and the other in Pulaski County. The Saline District is the most important since it has produced most of the bauxite. This district is located at Bauxite, Arkansas and the deposits are found around the flanks of the Saline Dome. It is roughly square-shaped and is about 190 square kilometers in area. The source rock for the deposits is a Late Cretaceous, grey, nepheline syenite.

Jan 1, 1979

On July 25, the first copper ore From American Smelting & Refining Co.'s Mission open pit nine was sent into the new 15,000-tpd concentrator : three clays later, the first rail cars containing the Mission concentrate were sent north to the smelter at Hayden, Ariz. Thus two y,ears after stripping was started, Asarco's new mine, located south of Tucson. went on stream several months ahead of schedule. The plant, designed and constructed by Western Knapp Engineering Co., is expected to be operating at full capacity about September 1. with present plans calling for the copper concentrate from Mission to be shipped to Asarco's smelters at Hayden and El Paso.

Jan 9, 1961

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