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By R Yang

This paper presents a fragmentation model for large production blasts in an open pit or underground environment. The paper shows that the particle velocity is directly related to pressure, strain, and strain rate and so it can be considered as driving force and mechanism of rock fragmentation. This is supported by the fact that a vibration with a larger peak particle velocity (PPV) generates larger disturbance in rock and so finer fragmentation or more blast damage than a low PPV. The crack distribution in rock from impact is based on findings from previous researchers (Seaman, Curran and Shockey, 1976; Liu and Xu, in press). The fragmentation size is calculated at three-dimensional grid points within a blast. The fines and oversized blocks are calculated explicitly – the fines generated close to blastholes and big blocks far from boreholes are modelled naturally. The multiple blasthole fragmentation (MBF) model takes surveyed irregular geometry of the free face of a blast as the calculation boundary. The MBF can model fragmentation with over one million grid points. Examples of the model’s field comparison are also included.The PPV at a calculation grid is estimated based on the same approach used for the near field non-linear vibration model (Yang and Scovira, 2007). The method is based on the dominant charge for a calculation grid point, non-linear charge weight superposition within a charge and from multiple charges, strain wave broadening, and amplitude attenuation with distance from a charge segment. The blasthole confinement affected by earlier firing charges is also taken into account.The MBF model inputs from blast design, such as: location and orientation of each blasthole, stemming length, blasthole diameter, multiple decking, bench height, initiation sequence, etc. It models the effect of the delay and its scatter in each blasthole on fragmentation and has a statistical modelling capability for geological random variation on attenuation of particle velocity wave. The wave reinforcement due to instantaneous waves arriving or diminishing cooperative contribution due to long delay intervals between charges is also simulated.The results are displayed in 3D volumetric plots, contour of fragmentation in cross-sections, and size passing curves for a whole blast or a region of the blast.CITATION:Yang, R, 2015. A multiple blasthole fragmentation model – its concept, formulation, capability and field comparison examples, in Proceedings 11th International Symposium on Rock Fragmentation by Blasting, pp 177–186 (The Australasian Institute of Mining and Metallurgy: Melbourne).

Aug 24, 2015

By T W. C Stambolie

Coalmines, like any other mine, generally involve the classic three-staged approach to mining studies; namely concept, pre-feasibility study (PFS) and feasibility studies (Cusworth, 2012). Subsequent to these studies, and in instances parallel to these studies, the commitment to an environmental impact statement (EIS) is made in order to secure both state and federal development consent. In recent times, the sentiment to both mining and coal is changing whereby the traditional approaches to mine planning and economic evaluation is complicated by evolving environmental legislation, expectations and time frames. It is all too common to take shortcuts in the development of projects in order to create the perception of cost savings and expediting the delivery timeline. Atkins (2016) points out that: boards of so many small to mid-tier mining companies, and a few majors, focus on relentless project delivery too early in the project process, with so little time and effort applied to risk analysis and option development. Unforeseen risks can cost any timeline or budget far more than the effort required assessing and mitigating these. The ultimate risk to any feasible coal project is that of environmental approval and achieving development consent.CITATION:Stambolie, T W C, 2016. A black canvas – planning a greenfield coalmine in New South Wales, in Proceedings Life-of-Mine 2016 Conference , pp 31–35 (The Australasian Institute of Mining and Metallurgy: Melbourne).

Jun 28, 2016

By A Melkumyan, F Ramos

This paper addresses the problem of prediction of grade variables over volumes (block estimation) for an autonomous mine. Resource estimation is usually concerned with the prediction of the quality of material over volumes (blocks in resource models). This problem is tackled by developing Bayesian block estimation with the Gaussian processes (GPs) framework. GPs are commonly used for nonparametric regression and classification and offer an elegant solution to deal with incomplete knowledge and information. A GP is defined by its mean and covariance function. The parameters of the covariance function can be learnt by maximising the marginal likelihood of the data. This offers a way of automating the covariance fitting process, while at the same time allowing for an assessment of how well the covariance function fits the data. Within the GP framework the calculation of the average grade over a volume can be performed using Bayesian quadrature, which treats an integral as a random variable. First, it is demonstrated that the block kriging equations in geostatistics are the same as Bayesian quadrature. Then, it is determined when closed form analytical solutions for the integrals are possible and quadrature approaches for approximations are briefly discussed.

Sep 26, 2011

Chile, which hosts around 30 per cent of the worldÆs copper resources, is now the largest producer and exporter of copper. Chilean copper output accounts for more than one-quarter of total worldwide production. An increase to around 40 per cent is forecast by the end of the century. In addition, Chile ranks eighth in silver production and 11th in gold output. In Chile, mining generates more than eight per cent of the countryÆs GDP and the total value of mineral exports is more than US $7.85 billion corresponding to more than 25 per cent of South AmericaÆs mineral production. The rate of growth of Chilean mineral production is indeed impressive. Table 1 shows that in the period 1969 - 1998, copper annual production increased 564 per cent from 667 000 t to 3 764 000 t. Gold production went up 27 times from 1827 to 49 770 kg. Silver output grew 1219 per cent from 95 650 kg produced in 1969 to 1 166 380 kg in 1998. Several facts explain this dramatic increase of production, but the most important was the success of exploration sustained over the same period. This resulted in the discovery of several world-class deposits which when developed into mines, account for much of the production increases. Therefore, this summary review shows the success of basic exploration carried out during the last 30 years in the Chilean territory. The review is based on data already published in different specialised mining books or magazines. It only includes those world-class discoveries not the lesser discoveries important at local scale. All figures were calculated using 1998 $US dollar and average estimated metal prices valid for 1999: copper $US 1653 per t ($US 0.75 per pound), gold $US 9452 per kg ($US 294 per ounce) and silver $US 177 per kg ($US 5.5 per ounce).

Jan 1, 1999

By S Dorrington, J Olsen, N Kinkaid

Several studies have been conducted on the economic analysis of mining near-Earth asteroids for resources for use in Earth orbit. While these studies use detailed economic figures of merit, they often use many invalid assumptions in the trajectory design. Factors such as the energy and propellant requirements are estimated with analytic methods, however, the stay-time at the asteroid and the spacing of repeated launch opportunities are not taken into account. The work outlined in this paper attempts to combine detailed trajectory design methods with newly defined economic figures of merit to improve the economic assessment of asteroid mining missions. The study focuses on asteroid 2014 EK24, a near-Earth asteroid with very Earth-similar orbital properties.CITATION:Dorrington, S, Kinkaid, N and Olsen, J, 2015. Trajectory design and economic analysis of asteroid mining missions to asteroid 2014 EK24, in Proceedings Third International Future Mining Conference, pp 281–288 (The Australasian Institute of Mining and Metallurgy: Melbourne).

Nov 4, 2015

By G Zhang, I Glacken

Multiple indicator kriging (MIK) has been used in the minerals industry for some decades. As one of the non-linear estimation methodologies, MIK has advantages related to resolving multiple or mixed populations, high variability data and strongly skewed distributions. Applying the MIK methodology requires a lot more effort when compared to other non-linear methodologies, for example localised uniform conditioning. This is due not only to the variogram modelling for multiple indicators, but the validation is also very important because the panel model is fundamental for follow-up work, including the generation of recoverable resources at the local or SMU scale. Apart from this, only a few reported case studies of MIK have documented post-processing of the estimated modelled distribution, representing the probability distribution at point scale at un-sampled locations. The MIK post processing should include the change of support from the point scale to the panel scale, and then the extraction of quantile values from the panel conditional cumulative distribution function (CCDF) for localisation of grades into the SMUs within each panel, based on a ranking estimate marking the SMUs from high to low. In this paper, we present a case study on a gold deposit with the MIK method with full-post processing implemented for recoverable resources. The MIK point estimate was carried out with an indirect lognormal change of support from point to panel scale, and localisation was done with a custom script. The localised uniform conditioning (LUC) method was also applied for comparison purposes. The comparison shows that MIK has advantages compared to LUC when comes to capturing the high-grades, especially when mixed or varying anisotropy is present within the mineralisation.

May 24, 2023

By S Chatterjee

The production scheduling of an open pit mine determines the optimal extraction sequencing that significantly impacts a mine’s life as well as net present value. The optimisation of production scheduling of large open pit mines with geological uncertainty is a computationally very intensive process. In this paper, an approximation algorithm is proposed to schedule an open pit mine, where instead of solving the whole problem at once, the production schedule is generated by sequentially solving subproblems. The subgradient method is used to generate the upper bound solution of the Lagrangian relaxed subproblem. If the upper bound relaxed algorithm is not a feasible solution, a mixed integer programming is solved on the generated upper-bound solution. An application at a copper mine with an orebody represented by 16 532 mining blocks is presented using the proposed algorithm. Results show that all constraints are satisfied. The net present values are also calculated and results reveal an 11 per cent higher net present value (NPV) is generated when compared to the NPV generated when the same approach is applied to the deterministic model of the deposit where uncertainty is not accounted for.CITATION:Chatterjee, S, 2014. Stochastic production scheduling – solution through Langrangian relaxation with the branch-and-cut algorithm, in Proceedings Orebody Modelling and Strategic Mine Planning Symposium 2014 , pp 323–328 (The Australasian Institute of Mining and Metallurgy: Melbourne).

Nov 24, 2014

By K Eglinton

The extractive industries response to community engagement due to social and political pressures in the 1980s and 1990s was the starting point of development leading to the modern function of corporate social responsibility.Challenged by communities who have greater access to information, demand greater transparency and responsibility of corporate organisations and who possess greater awareness of the communities they participate in, the mining sector faces another step change in how it approaches and integrates corporate social responsibility, transparency and engagement.Mining is seeking reserves of lower grades, in more sensitive environments and in countries with minimal transparency and governance. Not only are the locations changing but so to the stakeholders to engage with and issues to contend with. An increasingly savvy opposition, including not just the ‘green hippies’ but the Gen-Ys interested in the wider sustainability debate and Baby Boomers moving to life style environments, are now questioning mining’s behaviour and encroachment into ‘their space’. Issues including effect on lifestyle amenity, property value, energy efficiency, social provision; concepts such as ‘doing more with less’, participatory engagement, increasing transparency and balancing economic, environment, cultural and social aspects are becoming the norm.The traditional model of supporting local communities, communicating plans and providing employment, community investment and indigenous support programs is not enough. Our industry faces challenges on multiple fronts. It must now be able to address these from a personal/community perspective if it is to remain relevant within communities and play a role in addressing the global sustainability issues.This paper draws on corporate social responsibility trends, integrated functions and implementation approaches through the application of activities within Newmont operations across Asia Pacific.The approach presented works on the philosophy that communities do not necessarily have to like what we do, but should be able to identify and recognise the way in which we involve them in decision making, communicate our intentions and respond to issues.

Nov 22, 2011

By L Smith, R Beckie

An intermediate scale (8 m + 8 m + 5 m high) constructed waste rock pile experiment was built upon a contiguous grid of 16 gravity drainage lysimeters to investigate the flow of water in unsaturated waste rock. Average net infiltration to the uncovered waste rock pile is 55 per cent of precipitation. Large rainfall events have net infiltration of 55 per cent to 85 per cent. Net infiltration estimates range from 23 to 120 per cent of precipitation between lysimeters. Small-scale lysimeters of less than 4 m2 area are shown to be poor predictors of net infiltration for uncovered waste rock. The appropriate size for lysimeters increases with increasing flow rate. The residence time distribution has an estimated median value of 3.0 to 3.9 years under average infiltration conditions. Water flows within the fine grained matrix, within larger pores (macropores), and in matrix free areas of the pile. In situ tracer concentrations vary between pore sizes, and between spatially distinct areas of the pile, indicating water geochemistry may also be variable. Water samples collected from in situ soil water samplers are dominated by the most mobile water fractions. In situ measurements of water content and matric suction are compared to the measured outflow. The data indicate the focusing of flow in spatially distinct areas can make in situ instrumentation a poor (non-conservative) predictor of volumetric water flow.

Jan 1, 2003

By G J. Lyman

Sampling of grain for mycotoxins is challenging in that some mycotoxins, such as Ochratoxin A (OTA), have very low permitted levels and the kernels carrying the mycotoxin may be highly localised within the bulk of the grain as ‘hot spots’. Sampling for genetically modified organisms (GMOs) can be fraught with similar problems, especially if the contamination is adventitious and random. Incremental sampling under these circumstances can be shown to lead to a high variance in the sampling result.A new design of sampler for grain and other free-flowing particulates has been developed that is effective in practically eliminating the sampling variance due to distributional heterogeneity (DH).This paper introduces the design and argues that the sampler should be free of sampling variance due to DH.CITATION:Lyman, G J, 2017. A new sampler for grain and other free-flowing particulates, in Proceedings Eighth World Conference on Sampling and Blending , pp 277–280 (The Australasian Institute of Mining and Metallurgy: Melbourne).

May 9, 2017

Forty years ago Dr Pierre M Gy, a metallurgist, introduced variography as applied to monitoring a process. Consequently, his followers used the variogram to elaborate meaningful process control charts, especially since 1993. The name æChronostatisticsÆ was suggested several times by Gy as a logical name for this new science. The intent was to draw a parallel between the variogram identifying the variability components affecting a process parameter as a function of time, and the variogram used in geostatistics identifying the variability components of a given mineral content as a function of space. Heterogeneity problems encountered have indeed strong similarities. However, there is a fundamental difference. The variogram used in geostatistics is often stationary within a given type of mineralisation. While investigating a dynamic process through Chronostatistics, there is no such thing as a stationary variogram. Still, the evolving variogram provides essential information about subtle, often overlooked process difficulties. Chronostatistics is especially useful for management to take advantage of existing data that are often a forgotten source of valuable information to pinpoint recurring structural problems. The superiority of Chronostatistics over conventional statistical process control approaches is that it links observations to the inherent heterogeneity of materials under investigation, therefore to the sampling theory. Chronostatistics is like opening a new world to the metallurgist, making the process variability speak in a more comprehensive and in-depth way. Several case studies are presented to demonstrate the potency of this new science. For each of them, observations lead to solutions for continuous process improvement, therefore attractive economic opportunities. The philosophy is this: if a control chart shows a process is out of control, it must also suggest logical and pragmatic directions for solutions. The intent of this presentation is to vastly expand on these valuable, almost forgotten ideas.

Jan 1, 2006

By M Akop, G Phillips, L Elliott

An estimation geologist has many tools in their kit and using the correct one for the job is vital for creating a useful model. Reconciliation is a key step to monitor the performance of a resource model and to ensure the correct tools have been selected and appropriate parameters are set. This paper presents an example of refining the estimation methodology for a Channel Iron Deposit (CID), resulting in an improved model. Rio Tinto Iron Ore (RTIO) CIDs are unique iron ore deposits located in the Pilbara region of Western Australia and contribute a significant volume to the world’s seaborne iron ore market. A problematic feature of these deposits is the irregular dispersion of clay pods that cannot be delineated with confidence within the resolution of the exploration drilling. Resource to grade control reconciliation showed an over-prediction of high-grade material in the resource model. A fresh approach was required to improve grade and tonnage predictions. Historically, clay pods were delineated using traditional wireframing techniques and estimated using ordinary kriging with hard boundaries. The new method utilised indicator kriging to estimate the probability of clay. Probabilities generated from the indicator kriging estimate were used as an additional weighting following the ordinary kriging of grades. Results showed indicator kriging improved global high-grade tonnes reconciliation, however, as expected, it did not improve the spatial prediction of clay. Based on improved reconciliation results indicator kriging has now been adopted as a suitable alternative for analogous CIDs at RTIO. These improvements benefit the mine planning process, but do not replace grade control models.

Mar 22, 2022

By E T. Baker, J A. Resing, S L. Walker, V Ferrini, F Martinez, R Haymon

"An EXTENDED ABSTRACT is available for download. A full-length paper was not prepared for this presentation. Enumerating active sea floor hydrothermal sites has been a challenge since their discovery almost 40 years ago. High-temperature hydrothermal sites are readily discoverable, primarily by detecting mineral-laden plumes, but working at these sites poses severe environmental and operational difficulties. Low-temperature vent fields, which may represent waning of venting from high-temperature systems, may be more accessible but are more difficult to locate. Over the last decade, however, oxidation-reduction potential (ORP; aka Eh) sensors capable of detecting minute concentrations of reduced hydrothermal chemicals have been successfully used to pinpoint such fields. In this extended abstract, we use ORP anomalies observed during continuous (towed sensor) plume surveys to estimate site frequency along four intermediate- to fast-spreading ridge sections. From these data, we estimate site frequencies between five and 16/100 km for these ridge sections. Previous camera surveys on the fast-spreading East Pacific Rise support these frequencies. These rates are much greater than the frequency of ~0.5–5/100 km, generally increasing with spreading rate, derived from well-surveyed ridge sections in the InterRidge database (InterRidge, 2014). The higher frequencies arise because ORP sensors are able to distinguish between sites as close as ~1 km and identify sites with negligible or no optical plume signal.CITATION:Baker, E T, Resing, J A, Martinez, F, Haymon, R, Walker, S L and Ferrini, V, 2015. How leaky are oceanic ridge axes? A new assessment of the spatial density of submarine hydrothermal discharge, in Proceedings PACRIM 2015 Congress, pp 3–8 (The Australasian Institute of Mining and Metallurgy: Melbourne)."

Mar 18, 2015

By K Young, M Martin, D Payne

This paper outlines the evolution of managing high consequence risk scenarios in BHP Coal, with particular focus on managing the stability of an endwall that is adjacent to a public infrastructure corridor running through a Central Queensland coalmine. BHP Coal developed a Geotechnical Consequence Register after industry failures identified shortcomings in traditional risk assessment practices. Traditional risk assessments consider the consequence and likelihood of a geotechnical event occurring under normal operational conditions. As such, the risk rating for a high consequence, low likelihood failure may fall within the acceptable range, even where a lack of meaningful geological data exists due to the area being off lease or outside of mining reserves. The Geotechnical Consequence Register lists all geotechnical failure scenarios of high consequence, identifies if current controls are adequate, and highlights if specific Geotechnical Management Plans are required. This case study reviews a failure scenario that was identified through the geotechnical consequence register. The scenario had previously been considered low likelihood and subsequently driving a low risk; however, the likelihood ranking was impacted by a lack of geological data outside of the mining lease and predominately informed by an acceptable historical slope behaviour. Additional exploration identified previously unmapped faulting which increased the risk rating. The requirement to develop a specific management plan resulted in an increase in the required factor of safety, design changes, the implementation of additional monitoring and a corresponding monitoring Trigger Action Response Plans (TARP). In the case study area, the initiation of a geotechnical instability was identified early through the increased monitoring program. The instability was successfully managed and any impact to the infrastructure corridor off lease was prevented. BHP Coal has used the Geotechnical Consequence Register for several years to identify and assess high consequence geotechnical failure scenarios. In some areas this has justified additional exploration, more stringent design acceptance criteria and an increased level of geotechnical monitoring. The process has been successful in ensuring that geotechnical risk is controlled in areas that often receive less attention than active production areas.

Nov 29, 2022

By V Rasouli, G Cavanough, A Mokaramian

The sampling time, the costs and its quality are the three factors that determine the best method of drilling in mineral exploration. The two principal methods of reverse circulation (RC) and diamond core drilling are often used in combination by mine operators. RC is used for drilling shallow holes and in-pit grade control, and core drilling for deeper holes to identify future resources. The RC method is faster and more flexible than coring and provides virtually uncontaminated cuttings (ranges from dust to 25 mm chips) to the surface cyclone suitable for geochemical anomalies. The diamond coring produces core samples to increase the level of geological knowledge and the 3D extension and distribution of the orebody. However, both of these methods are subjected to certain limitations and inefficiencies in reaching deeper depths and drilling complex hole geometries. Examples of such shortcomings include the inability to provide enough air pressure for RC drilling and high friction between drill pipe and the hole wall in diamond core drilling.Considering that delivering large volume of reliable samples from deep zones to the surface in shortest possible time is of paramount importance in mineral exploration, and assuming that obtaining core samples over whole overburden is not always essential, then drilling small size holes as fast as possible and delivering the small chip samples to the surface would be a good alternative with several advantages over conventional drilling methods for deep hard rocks mineral exploration. As a result, the use of coiled tube (CT) drilling technology has been proposed recently for such applications. CT is a continuous length of ductile steel or composite tube stored and transported on a large reel; and allows fast drilling by eliminating the connection time and providing continuous circulation during drilling. This enables quick access to the zone of interest to collect the cuttings or obtain core samples. CT is advantageous particularly in drilling directional boreholes and multi-laterals. In this paper, feasibility of using CT delivering reliable samples is discussed for deep mineral exploration. In addition, recent developments and practices are presented that make CT a reliable drilling technology to drill cheaper, faster and deeper and to deliver more continuous and reliable data and samples from deep formations.CITATION:Mokaramian, A, Rasouli, V and Cavanough, G, 2012. Quality sampling using coiled tubing drilling in deep mineral exploration, in Proceedings Sampling 2012 , pp 73-80 (The Australasian Institute of Mining and Metallurgy: Melbourne).

Aug 21, 2012

By B Murphy, J L. Heath

Installation of flotation equipment is a lengthy and intricate process involving conceptual design, detailed design and layout, equipment installation, equipment commissioning and handover prior to the plant commencing operation. During these steps, mistakes are often made that lead to increased costs and/or schedule delays in bringing the new equipment online.This paper presents a series of recommendations for the installation and commissioning of flotation equipment to minimise mistakes and ensure that plant production commences efficiently with a minimum of resources. The advice herein is based on lessons learnt from recent flotation equipment commissioning. It is intended as resource material for flotation plant designers, construction contractors, metallurgists and operators, and is applicable to both new and existing plants.CITATION:Heath, J L, Murphy, B and Bourke, P, 2014. Effectively installing and commissioning flotation equipment, in Proceedings 12th AusIMM Mill Operators’ Conference 2014 , pp 399–404 (The Australasian Institute of Mining and Metallurgy: Melbourne).

Sep 1, 2014

By C L Humphrey

Biological monitoring programs for environmental protection require techniques that will provide both early detection of possible adverse effects, and assessment of the ecological significance of these effects. Monitoring techniques must include responses sensitive to the impact, that can be subjected to rigorous statistical analysis and for which statistical power is high. Such issues in baseline research of 'what and how to measure?' and 'for how long?' have been the focus of a program being developed to monitor and assess effects of mining operations on the effectively pristine, freshwater ecosystems of the Alligator Rivers Region (ARR) in tropical northern Australia. Application of the BACIP design, utilising a form of temporal replication, to univariate data (single species) and multivariate (community) data is described. For new ventures in Australia (such as mining), monitoring programs should be designed to establish with high probability that an impact on the ecosystem no greater than a prescribed amount has gone undetected - as opposed to simply allowing development to continue as long as 'proof' of impact is not available. Such a precautionary approach represents a shifting of the 'burden of proof' and would require with the BACIP design, a minimum number of baseline years in order to achieve some desired level of statistical power in a test for impact. Power analyses conducted on two to five years (depending upon the technique) of baseline data from streams of the ARR indicate that the BACIP design would not impose developmental constraints on mining and that a policy of reversal of the burden of proof would provide the cornerstone required for managing such development in an ecologically sustainable manner.

Jan 1, 1994

Large deposits present computational challenges to todayÆs commercial orebody modelling systems that are based on conventional block models. We describe a system that is specifically engineered to model and visualise large deposits. Central to the system is linear octree encoding of conventional block models and real-time conversion of three-dimensional (3D) meshes to linear octrees. We provide both methodological treatment and practical experience in implementing such a system. A commercial implementation is also presented to demonstrate the validity of the approach.

Sep 26, 2011

Visual computing opens the design process to a wider audience and allows rapid communication of mine plans to all stakeholders. The integration of software and hardware technologies that take advantage of a graphical environment will continue to improve both long-term and short-term mine design (Figure 1). A good design must be adaptive to respond to decision changes as the mine develops and more information becomes available. The constraints on mine design predicate careful analysis in order to operate the mine as efficiently and safely as possible.Continuous improvement in mining is assured by developing innovative technologies that target mine survey, drill and blast, modelling, short-term design and pit and stope optimisers. The design life of a mine has to be sufficiently long to ensure the mine is commercially successful, justifying the high start-up capital costs. Being able to execute a plan so that it honours the design realises the rewards of computerised mine planning and the long-term investment in data acquisition.

Sep 26, 2011

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