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By C. N. Speltz

The cost of transportation of industrial minerals is frequently higher than the cost of the product. Where a minc, industrial mineral plant. or customer is served by a single railroad, that single railroad, because of lack of competition, may increase rates and/or provide inadequate service so that the economics of that mine, plant or customer are adversely affected, or so that the level of service precludes satisfactory performance. Transloading of industrial minerals from rail-to-truck or truck-to-rail in order to improve economics and sales of product is not new. However, transloading to reduce freight costs or improve inadequate service caused by a lack of competition in the rail industry, is a relatively new concept brought on by the recent mergers of many of the main line railroads, both in the eastern and western United States. For example, with completion of the Burlington Northern/Santa Fe and the Union Pacific/Southern Pacific mergers, the western United States has only two mainline railroads. The industrial mineral producer, in order to reduce the cost of transportation, or increase the level of service, must evaluate potential transloading opportunities in light of higher prices and reduced service brought on by reduced railroad competition.

Jan 1, 1998

By E. M. Schern

The Morenci/Metcalf porphyry copper mining operation, located in southeastern Arizona, currently processes approximately 100,000 tons of ore per day and has copper ore reserves estimated to be in excess of one billion tons. Functional groups within the Geology Depart¬ment (currently staffed with six professional and two support personnel) include mine geology, project geology, and hydrogeology. The primary task of mine geologists is daily preblast bench face mapping with grade and mill amenability estimates. Auxiliary duties include detailed in-pit metal distribution evaluation, mineragraphic work and flux quarry geology. Project geologists conduct explora¬tion and preliminary development projects both within and outside the Morenci district and provide support to ore reserve block modeling and geotechnical work performed by the Morenci mine engineering group. Hydrogeologists handle exploration for and development of groundwater' resources and groundwater flow modeling, mine dump leach solution penetration and recovery evaluation, and tailing dam water reclamation.

Jan 1, 1983

By Neil S. Fishman

Tabular uranium ore in the Grants uranium region, New Mexico, occurs as tabular layers of a urano-organic mixture suspended within host sandstones of the Morrison Formation. The intimate urano-organic association points to the organic material as the main ore control. Petrographic evidence indicates that the organic material was postdepositionally introduced into the host sandstone, probably as humic acids; however, the mechanism by which these acids precipitated from solution remains uncertain. A model, the cation scavenging model, is proposed in this paper to explain humic acid precipitation. The model, supported by evidence from regional alteration studies of the host sandstones, proposes that cations responsible for humic acid precipitation were scavenged from framework grains which altered during passage of the humic-rich fluids through the host sandstone. This process, coupled with the affinity of organic molecules for each other, caused flocculation of humic acids into tabular zones. The precipitated humic substances then continued to concentrate uranium to form the orebodies. The cation scavenging model requires only one solution, the humic-bearing solution, in the precipitation process. All cations necessary for humic acid precipitation originated in the host sandstones. This model contrasts with a previously proposed model--the brine interface or two solution hypothesis--in which it was proposed that a cation-rich brine introduced into the host sandstones provided the cations necessary for humic acid precipitation. The brine hypothesis has several drawbacks, one of which is unrealistic hydrologic reconstructions necessary to accommodate mineralization at various stratigraphic horizons in the Morrison Formation. Moreover, no mineralogic evidence exists to suggest a brine occupied the host sandstones at the time of mineralization. The proposed cation scavenging model for humic acid precipitation not only readily accounts for humic acid precipitation, but also is consistent with geologic observations and regional alteration studies.

Jan 1, 2013

By Albert J. Kritscher

The Similkameen Copper Project located near Princeton, British Columbia, is operated by the Similkameen Mining Company Limited, a wholly-owned subsidiary of Newmont Mining Company. The orebodies for this project are located on both sides of the Similkameen River for which the project is named. The project involves the processing of an average of 15,000 STPD of andesitic ore, mineralized largely with Chalcopyrite, at an overall plant availability rating of 90 percent. Project life is nominally 15 years. Design for the plant and its ancillary facilities was undertaken by Bechtel Corporation with procurement and construction management by Canadian Bechtel Limited. Construction began in June 1970 and first ore was introduced into process in March 1972. This paper concerns itself only with the project tailing system. The processing plant is located on a bench of glacial stream gravels which overlooks the river canyon. This site represented the only relatively flat area of sufficient size to accomodate processing facilities near to the ore- bodies. Reference is made to Figs. 1 and 2 showing the relationship of project features in plan and profile.

Jan 1, 1973

By Grover Wallace

At is important for today?s mining executives and leaders not to underestimate the fact that, while the recent downturn in the economy did take its toll on balance sheets and productivity, factors such as emerging countries, aging workforces, globalization and individual knowledge growth did not lay dormant while the economy was in a lull. It is key for mining leaders to be proactive in their talent strategies. Successful mining companies are developing a clear, concise and communicated strategy and placing a high priority on recruiting the right talent in global markets that parallels their business strategy. They are focused on placing the right people in the right jobs.

Jan 1, 2011

By James A. Clem

Approximately 2,000 years ago, the Lord Admonished the Scribes (Lawyers) and Pharisees (Religious leaders of that time) that they had paid the tithe but had omitted the weightier matters of law, Judgement, Mercy, and Faith. (Matt. 23:23). I want to talk about "The Weightier Matters of Law." In a situation where big government is trying to have an effect on even small details of a work activity, otherwise simple situations become complex. Regulations are written to such detail that constant compliance with strict interpretations can be a nightmare--not to mention off the target of the intended purpose for the regulation. One soon re- cognizes the oneros characteristics of Federal statues

Jan 1, 1979

By Marline J. Veesaert

Urban quarries offer one of the greatest opportunities for profit in non-metallic mining with limited financial risk IF properly evaluated, planned and developed to meet market needs. Location, with respect to market, is the prime consideration. Geologic considerations and quality of rock are nearly as important. Cost factors and return on investment (ROI) are the principal financial considerations. Risk of capital is determined by weighing all factors that should be considered and how well judgements are based on information acquired. It is a simple, true axiom of business that an investment must be founded on amount of capital required with its expected return plus profit, expertise required to operate and time involved. Urban quarries generally offer excellent stone product market opportunities. Costs of land with mineral containment and processing operations are much greater than in rural areas. Environmental problems have become increasingly severe. Competition from other quarries in the market area is usually directly proportional to the profit attractiveness. Risk of capital (initial, developmental and operational) can be evaluated and reduced only by thorough analysis of the entire situation. Time and money expended on planning and preliminary investigations probably represent the most productive investment of available company resources.

Jan 1, 1977

By Todd Burchett

Mining engineers spend countless hours and resources when designing a new underground coal mine. Their primary objective is to design the safest and most efficient operating mine with regards to coal production. A key variable often overlooked in this design stage is the slope conveyor. Typically, a slope conveyor is expected to operate with a 98-percent or higher availability. However, too often little effort is put forth by the mining engineer to optimize its design. Coal companies will rely on engineering, procurement, construction and management (EPCM) companies for the preliminary design, because the slope conveyor will be considered part of the surface material handling processes. This preliminary design will be used when soliciting quotations for the slope conveyor. Unfortunately, EPCMs may not have enough expertise with conveyors to optimize the design. This expertise is available with an original equipment manufacture (OEM) of conveyors, which ultimately may be responsible for supplying the slope conveyor. Each OEM will provide a bid package that represents what it considers to be the optimal design.

Jan 1, 2013

By Robert N. Pratt

The rapid acceleration and sweeping consequences of what we have all come to characterize as "the ecology movement" has marked a period of serious trial and challenge for the mining industry. It has blossomed into a major factor in our daily business and added a significant new dimension to the problems we must meet and overcome as businessmen. It has become an important new consideration at a time when we must continue to cope with our traditional problems such as rising costs, competition at home and abroad, and the always vital necessity to continually develop new and better technology to produce more minerals more efficiently and more economically. The body of law embracing environmental quality control grows each day, becomes more complex and offers more contradictions. And there is little relief in sight. The requirement to comply with sound environmental regulations -- or challenge unrealistic legislation -- has placed a major burden on the private sector. The economic significance of enacted and proposed environmental regulation is pressing management in the mining industry to some hard decisions -- basic day-to-day business decisions and decisions which acknowledge the undoubted long-term effects of the new laws.

Jan 1, 1973

By James M. Stauffer

There are many types of filters designed to separate a solid from a liquid, including plate and frame presses, pressure leaf filters, gravity filters and vacuum filters. This discussion will be limited to continuous vacuum filtration and, specifically, to continuous rotary vacuum disc filters, drum filters and horizontal belt filters. The use of vacuum filtration can be advantageous in that: 1. The feed slurry can be delivered to the filter either by gravity or by a simple, inexpensive low pressure pump that only has to overcome the resistance of the feed piping system. 2. The filter equipment does not have to withstand high pressures. Consequently, a wide range of materials of construction, including plastic and fiberglas reinforced polyester (FRP), can be used in the fabrication. 3. After the form time, the filter cake is exposed to the atmosphere and the cake is accessible for further operations such as mechanical or physical dewatering, washing, and sampling on a continuous basis. 4. The discharge of the dewatered solids is continuous for directly feeding to the next operation; for example, a dryer. 5. Various methods of discharge can be fitted to the filter to effect optimum discharge of the dewatered cake solids. The principal of operation of a vacuum filter, regardless of type, is basically the same. The filter incorporates a filter medium supported on a drainage system and arranged so that the mixture to be separated (feed slurry) can be introduced to one side of the filter medium on which the solids are trapped and through which the liquid (filtrate) flows due to the applied vacuum.

Jan 1, 1979

By R. J. Pindred

Discussion by R.J. Pindred In his paper, Davis presents an overview of risk. He also introduces the Capital Asset Processing Model (CAPM) as a foundation for selecting the appropriate discount rate for a mining project. While applying portfolio theory is more defensible than the ad hoc adjustment of discount rates, the CAPM is not a panacea. CAPM shortcomings [The CAPM, as Davis stated, is expressed in the equation: ri=rf+pi4) where ri is the project discount rate rf is the risk free interest rate (3i is the project beta, and 0 is the market risk premium (rm - rf)] Application of the CAPM is more difficult than Davis indicates. Valuation is prospective, while the CAPM parameters are historical. Beta is determined from a regression analysis of historical data, while the beta needed for valuation is the expected beta. Betas are known to be unstable and the regressions that generate them often have low explanatory power. The difficulty of estimating a "project" beta must also be considered. Thus, the beta that is used in the CAPM will be based on the analyst's judgment. Like Cavender's discount rate, this judgment can lead to different project NPVs. Subjectivity in valuation cannot be avoided by a mechanical application of the CAPM. The risk-free rate, which Davis identifies as a short-term real rate of 4%, is also subject to scrutiny. A mining project is not a short-term investment and no single risk-free rate is appropriate for all of the cash flows. The hypothetical mine discussed in Cavender's paper is a six-year project. One might argue for the application of a risk-free rate from the Treasury yield curve at the duration of the project (in a bond-duration sense). This, too, is inappropriate. The risk-free rate should be matched to the timing of the cash flow. These rates can be determined by calculating the implied forward rates from the yield curve using a procedure known as "bootstrapping." It is likely that each of the project's cash flows would be discounted at a different rate. Commodity prices Davis criticizes the "ad hoc adjustment to the discount rate." Yet, in his discussion of the value of stochastic simulation, he suggests that the gold price be modeled as a "random walk, with or without a trend." This is essentially an arbitrary modeling of price risk. Consider that a liquid market in gold futures exists. The futures' price curve, which is closely related to the market's estimate of future spot gold prices, should be used to provide inputs to the model. This is especially true of a relatively short six-year project. Alternatively, as Davis correctly points out, a risk-averse investor can sell the commodity short to hedge price risk. Is it any more correct, in the portfolio sense, to account for price risk at all ?? References Cavender, B., 1992, "Determination of the optimum lifetime of a mining project using discounted cash flow and option pricing techniques," Mining Engineering, Vol. 44, No. 10, pp.1262-1268 Fabozzi, F.J., 1993, Bond Markets, Analysis and Strategies, Second Edition, Prentice Hall, Inc. Higgins, R.C., 1992, Analysis for Financial Management, Third Edition, Richard D. Irwin, Inc. Solnik, B., 1991, International Investments, Second Edition, Addison Wesley Reply by G.A. Davis Pindred discusses two issues related to my paper, the shortcomings of the Capital Asset Pricing Model (CAPM) and which commodity price values to use in the valuation exercise. Even though these topics are not directly related to the use or misuse of Monte Carlo simulation, they are important points to take into consideration in valuation exercises. Since I do not appear to have addressed these issues satisfactorily in my original paper, I will comment on each here. Pindred agrees with me that applying portfolio theory, and specifically the CAPM, to the selection of project discount rates is more defensible than ad hoc methods. But he then points out that the application of the CAPM to project valuation is more difficult that I indicate. It is true that the CAPM is a difficult tool for project valuation in general,. But the application of the CAPM to mining projects is one of the easiest I can think of. The biggest problem with using the CAPM for project valuation is coming up with an expected project beta. I suggest a project beta for gold projects of 0.45. The "true" value might be 0.35, 0.55 or whatever. Pindred correctly notes that the selection of the appropriate project beta is based

Jan 1, 1996

By W. L. Dare

Land use planning is not a new concept in the United States but the emphasis has changed drastically since the early 1960's. Under the old interpretation we tried to expand our frontiers and develop our land, but as society has become more affluent and mobile the demand has grown to preserve those parts remaining undeveloped. There is something of a paradox inherent in this change of emphasis. While affluence has motivated our support to preserve the quality of the natural environment, industrial development is needed to support the affluence. Because we cannot accomplish all of each, sound planning and compromise will be necessary since it is unlikely that, the American people will want to surrender much of their life-style or their awakening environmental concern. Any industrial society, whether a goal reached or an aim yet ahead, is built largely on the use of mineral raw materials and energy, the physical base of nearly all activities and products. The standard of living which is important to us all is growing more dependent upon these minerals, metals, and energy fuels. Although reduction in consumption of raw materials may be acceptable to those at a certain economic level of a society, those who have not reached that level cannot be expected to accept a lowering of their present or anticipated standard of living.

Jan 1, 1974

By M. D. Loy

In addition to products available from private vendors, many useful programs are developed at universities - in fact, many of these programs led the way to commercial development. Other projects are assigned to consultants with backgrounds in system design and mining. Both types of development have led to programs that can be acquired for the cost of a tape or disk. This paper highlights several underground mining packages. These programs consist of: ? USBM model-developed by the United States Bureau of nines. ? PSU model-developed by Pennsylvania State University. ? VPI model-developed by Virginia Polytechnical Institute and State University. ? NUS model-developed by NUS Corp.

Jan 1, 1987

By V. B. Menon, L. D. Michaels, M. E. Mullins

Introduction The cleaning of coal to remove sulfur and inorganic impurities has, in recent years, become an essential operation in any coal utilization process. US coals, on average, contain about 3% total sulfur, of which more than 60% is generally inorganic or pyritic sulfur. Existing technologies such as heavy media cycloning, selective agglomeration, and electrostatic separation have the potential for removing about 80% of the pyrite from coal (Khoury, 1981). In view of the large volumes of coal being used today, there exists a need for the development of new processes to further improve the separation of pyrite from coal. Colloidal particles in suspension possess surface charges that are related to the chemical composition of the particles. In aqueous suspensions, the surface charge is a function of pH. For coal-pyrite mixtures, it is possible, by an adjustment of the pH (also a function of polar molecules), to reach a state where the charge on coal is very close to zero, but the charge on pyrite is still substantial. The introduction of collector particles with a charge opposite that of the pyrite should then result in the selective flocculation of pyrite and collec¬tor. These flocculates should settle out much faster than coal and could be removed from the bottom of the settling column. This note discusses our preliminary observations of the effect of clay-based collector particles, especially bentonite, on the settling behavior of coal and pyrite. These experiments were conducted with a view to developing a new electrokinetic flocculation process for separation of coal-pyrite mixtures. Experimental The objective of the experiments was to determine the effects of clay-based additives on the settling rates of clean coal, pyrite, and coal-pyrite mixtures. Illinois Colchester (No. 2) coal was obtained after processing in an existing coal cleaning facility. This coal was reported to contain less than 0.3% pyritic sulfur, which was in the form of a fine powder with an average particle size of 5µm. Pyrite (of average particle size 5 µm) was also obtained from the same facility and reportedly contained less than 0.1% coal. The zeta potentials of coal and pyrite in water were measured as a function of pH using a zetameter. The pH was adjusted by adding sodium hydroxide or hydrochloric acid to the suspensions. Sedimentation experiments were conducted in 50-mL glass cylinders, and settling rates were measured by noting the height of clear liquid above the settling front as a function of time. Settling behavior was also charted by periodically taking photographs of the system. The following systems were investigated: •a slurry consisting of 2.5 g of clean Illinois Colchester coal in 50 mL of water of pH 6.0, with and without the addition of 0.5 g of bentonite (Fisher, purified grade) ; • a slurry consisting of 2.5 g of pyrite in 50 mL water of pH 6.0, with and without the addition of 0.5 g of bentonite ; and • a slurry consisting of a mixture of 1.25 g clean coal and 1.25 g pyrite in 50 mL water of pH 6.0, with and without the addition of 0.5 g of bentonite. In addition, experiments were conducted with kaolinite (Bath, South Carolina) and alumina (Fisher, purified grade) as collector materials to verify the observed effects. Results and discussion Figure 1 shows the zeta potential values for the Illinois coal and pyrite as a function of pH. The zeta potentials of coal and pyrite decrease with increasing pH, changing from an initially positive value at low pH to a negative value at high pH. The point of zero charge (PZC) for the coal is at a pH of 6.2, while the PZC for pyrite occurs at a pH of 10.3.

Jan 1, 1988

By Rustyn Sherer

Curis, the name of a new Arizona-based mineral development company, is an acronym which stands for ?Cu? (elemental symbol for copper), ?r? (recovery), ?is? (in situ, the Latin for ?in place?). The company was created specifically to advance the development of the Florence Copper Project in Florence, AZ and to pursue other next generation copper development projects in progressive jurisdictions around the world. ?We are extremely excited about this project,? said Curis Resources president and chief executive officer Michael McPhie. ?We?re here to set the standard for Greenfield in situ copper recovery (ISCR) operations in Arizona and around the world. We believe in our people, our technology and our process; and we are passionate about our commitment to environmental stewardship and community development. We?re making a long-term investment in Florence, and in Arizona.?

Jan 1, 2011

By R. Hagemeyer

In North America, the paper industry is by far the largest consumer of coating and filler mineral pigments. Present use is at an annual rate of 5.5 million metric tons with a value of $660 million. Current estimates are 65 percent is used in coating and 35 percent in filler applications. During the past decade, the switch to alkaline papermaking has provided the opportunity to substantially increase filler levels while maintaining paper strength. As a result filler consumption has been growing at a late in excess of 15 percent yearly. Unfortunately, within a few years, mandated recycling could slow or even reverse this trend. The critical issue is finding an economically viable method for recycling the mineral pigment and/or minimizing the disposal problem

Jan 1, 1994

By David A. Hedderly-Smith

Sealaska Corporation, the Alaska Native Regional Corporation of Southeastern Alaska, was organized under the laws of the state of Alaska pursuant to the federal Alaska Native Claims Settlement Act of 1971. Large areas of Sealaska's 630,000-acre (250,000 hectare [ha]) fee subsurface holdings are underlain by carbonate, and while much of this material is assumed to be common variety limestone and lesser dolomite, at least two areas in the Silurian Heceta Limestone contain high-quality limestone at tidewater. This limestone has many potential commercial uses. On northern Prince of Wales Island, about 90 miles (144 km) north-northwest of Ketchikan, resource development at Sealaska's Calder deposit has established a reserve of 13 mil- lion short tons (st) (12 million metric tonnes [mt]) of carbon- ate rock containing an average of greater than 98 percent CaC03, approximately 0.5 percent MgO, less than 0.5 per- cent Si02, and approximately 0.15 percent Fe203, with insolubles averaging less than 0.5 percent and an average Hunter Brightness of 92.07 for the -150 mesh grind (with a bright- ness cutoff of 90). The deposit is open at depth and to the south. Ultimate reserves will likely be several times those currently established. In 1998, Sealaska began mining the Calder deposit, with about 100,000 st (90,000 mt) produced, and also completed a marine terminal one half-mile (800 m) from the deposit. The terminal can load ships up to 680 feet (200 m) in length at a rate of 2,000 st (1,800 mt) per hour. 0 m) in length at a rate of 2,000 st (1,800 mt) per hour. On Dall Island at Breezy Bay, about 60 miles (100 km) southwest of Ketchikan, Sealaska has identified a limestone reserve in excess of 150 million st (135 million mt) that (based on 18 surface samples distributed evenly over about a section of land) contains about 98 percent CaC03, and less than 0.5 percent MgO, 0.5 percent Si02, and 0.15 percent Fe203. Brightness of the Breezy Bay carbonate is considerably less than at Calder. Five samples of brighter material from Breezy Bay returned brightness analyses in the high 80s and low 90s; average brightness is probably below the mid- 80s. Sealaska has also identified a deposit containing more than 19 million st (17 million mt) of similar rock near View Cove, a few miles south of Breezy Bay.

Jan 1, 2001

By Todd Hollingsworth

The Boddington gold mine is located near Perth in Western Australia in the Saddleback Greenstone Belt, a fault-bounded sliver of Archaean volcanic and shallow level intrusive rocks, surrounded by granitic and gneissic rocks. The mine began operations in 1987, producing about 7.7 t/a (250,000 oz/year) until mining ceased in 2001. Built on the footprint of the original mine, the Boddington gold mine expansion project involved opencut mining from two large pits. Expected gold production is around 31 t/a (1 million oz/year) for the first five years. It will be the largest gold mine in Australia. The mine has proven and probable reserves of more than 622 kt (20 million oz) of gold and has an expected life of more than 24 years. The mine is currently solely owned by Newmont Gold Corp., the world?s second-largest gold mining company, employing around 28,000 people worldwide. The conveyor and belt feeder contract for the Boddington gold mine expansion project was awarded by Aker Kvaerner Clough Murray Roberts (AKCMR) to FLSmidth Conveyor Engineering Inc. in August 2006. The contract involved the design and manufacture of 15 conveyors and 17 belt feeders with belt widths ranging from 450 mm to 2.4 m (18 in. to 96 in.) and conveyor lengths from 16 m to 2,172 m (52 ft to 7,125 ft). The total motor power added up to more than 16,700 kW (22,400 hp). The total length of all belting was almost 11.5 km (7.1 miles), and the total fabricated steel weight was approximately 3.7 kt (4,100 st).

Jan 1, 2010

By A. W. Khair, S. S. Peng

Background The mine is located in Ebensburg, Cambria County, PA. Cambria County is located within the Allegheny Mountain section of the Appalachian Plateau Province. The geologic structures in the mine area included folds, faults, joints and cleats in the coal. These geologic structures seem to have genetic relationships with the Allegheny Front (lannacchione and Puglio, 1979). The mine's geologic structures have been influenced mainly by Ebensburg Anticline and Wilmore Syncline (Watson, 1979). Current longwall panels lay along the western limb of the Wilmore Syncline oriented south 30° west. Surface topographic relief in the area is less than 152 m (500 ft) and overburden thickness varies from 183 to 244 m (600 ft to 800 ft). The coal seam in the mine is part of the Lower Kittanning Formation. The thickness of the B-seam is the subject of discussion. It varies from 1.2 to 1.5 m (48 to 60 in.) and consists of two parts. The lower part is 1.1 to 1.2 m (44 to 48 in.) of soft coal and the remainder is bony coal. The coal seam dips slightly from 0° to 6° to the east-south direction. Panel entries are driven 61 m (200 ft) wide, consisting of three 5.5 m (18 ft) wide entries and two pillars 24.4 x 30.5 m (80 x 100 ft) centers. The mine has a history of cutter roof problems in the entries (Fig. 1) that has delayed the advance rate of entry development considerably and the cost of maintaining those entries is very high due to the requirement of very heavy artificial supports (Fig. 2). Due to excessive convergence in the headgate, installation of additional support and often resetting of steel beam, to provide enough clearance, in these entries imposed additional delay during the retreat of the longwall face, as the shearer cuts coal adjacent to the headgate and shield support at the headgate needs to advance under the steel beams (Fig. 3). Methodology Extensive underground observation indicated that roof cutter [ ]

Jan 1, 1992

By J. A. Marshall

"INTRODUCTION The purpose of this paper is to investigate the potential for use of UAVs in underground mines and present a prototype design for a novel autorotating UAV platform for underground 3D data collection. The mining industry has recently shown increased interest in the use of unmanned aerial vehicles (UAVs) to assist in everyday operations [20, 11, 4]. Above ground, small UAVs are in some cases a more efficient, inexpensive, and safer alternative to manned aircrafts currently used for photography, inspection and security [6, 10]. For example, attaching camera, infrared and LiDAR payloads, UAVs can provide a low-cost method of obtaining highly accurate 3D photogrammetric data and aerial photography. UAVs are now commonly used in open pit mining operations for applications that include stockpile surveying, 3D pit modelling, facilities management, accident reporting, progress monitoring, and environmental assessment [11]. There are numerous companies offering UAV services for mining applications; e.g., UAV Geomatics, Leica Geosystems, Sky Futures, SenseFly and FlyTerra, to name just a few. Common services include stockpile and open pit volume computations, environmental assessment, aerial mapping and photogrammetry. Although the aforementioned services are thosemost commonly provided by UAV surveying companies, they may also add value to other daily mining operations. For instance, SenseFly offers pre and post-blast monitoring in order to identify the presence of misfires and wall damage. This data can also be used to reconcile the blast results with expected results. GEM Systems offers a UAV equipped with a magnetometer for mineral exploration surveys. Companies such as Barrick have even used UAVs for solids modelling at tailings dams and stability monitoring [11]. UAVs in mining have so far been mostly limited to surface applications. Harsh underground environments pose many obstacles for flying UAVs. The confined space, dampness, reduced visibility, air movement, and lack of control signal propagation hinders most operators from being able to fly a drone underground. It may be that truly practical uses for UAVs underground will require either autonomous or semi-autonomous flight capabilities. Although there are many difficulties with flying underground, the potential benefits from a working system could greatly improve mining operations. The potential benefits of deploying UAV platforms underground include access to unreachable and dangerous locations and removing personnel from unsafe situations. These benefits have the potential to greatly improve mine monitoring and mine safety. Research has shown that current UAV technologies exist that allow for autonomous indoor flight. Extensive research has been done to develop UAV systems that are capable of performing on-board simultaneous localization and mapping (SLAM), which can allow them to navigate and map a foreign environment autonomously [5, 7, 1, 13]. Grzonka [7] successfully used an open hardware quadrotor to autonomously navigate and map an office building. The research outlines the localization, mapping, path planning, height estimation and control of the autonomous quadrotor. Other research has been done that exploits autonomous UAVs for search and rescue. Kassecker [9] proposed a software and hardware framework for a quadrotor capable of indoor and outdoor urban search and rescue and Rudol [19] developed a system for human body detection and geolocalization using an autonomous UAV.The use of autonomous UAVs in search and rescue has the potential to improve situational awareness and surveillance for a rescue team. Similar research has been done that uses autonomous UAVs for indoor exploration. Pravitra [15] outlined a strategy for autonomous exploration of miniature air vehicles (MAVs) within indoor environments and Rudol [19] developed a method for using an unmanned ground vehicle (UGV) and a UAV for cooperative indoor exploration. These studies show that aut"

Jan 1, 2017