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By Ryan P. Sullivan, Ben D. DiFiore, Robert J. Auber, Michael A. Piepenburg, Lisa M. Smiley

Pollution to Lake Erie will be significantly reduced by the Westerly Storage Tunnel (WST) system, which is mainly comprised of a 10,000-ft long tunnel and a dewatering pump station in the downstream tunnel shaft. Separate construction contracts for the tunnel and pump station required careful management of the interface risks. A key decision was to decouple the projects by relocating the mining shaft away from the pump station. The need to receive the tunnel boring machine (TBM) in the pump station shaft was eliminated by dismantling the 28-ft diameter TBM in the tunnel then carrying it back through the tunnel and up the mining shaft. This paper discusses how interface risks were successfully managed during design and construction to limit overall schedule impacts.

Dec 1, 2022

By A. M. Marabini, G. Belardi, V. Alesse, M. Acosta

Sotiel mine is situated in the Iberian Pyrite Belt in southern Spain, some 40 km north of the port of Huelva. Although mining operations at the site date back to Roman times, the present mine came into production in 1983 and 5.6 million tonnes of ore had been extracted by 1993. The orebody is volcano-sedimentary and consists of fine grained copper, lead and zinc minerals in massive pyrite surrounded by slates and volcanics. Prior laboratory research had resulted in the synthesis of a new collector, belonging to the MercaptoBenzoOxazole (MBO) class that acts selectively towards Cu and Zn minerals after activation with CuS04. The MethylMercaptoBenzoOxazole (MMBO) version of this collector had been used for the laboratory flotation of Cu minerals and sphalerite activated by CuS04. This resulted in identification of the optimal physicochemical conditions for laboratory-cell flotation of the two minerals from samples of complex sulphide ores, and subsequently the reagent has been tested in the Sotiel plant (Spain). The plant has three flotation sections. With conventional re-agents, the first section yields a Cu concentrate grading 21% with a total recovery of 29%, and the second one yields a 40% Pb concentrate with total recovery of 34% and a 47% Zn concentrate with total recovery of 78%. Application of the new synthetic reagent in the copper and zinc circuits produces a more selective process with a decrease in re- agent concentration grade and recovery are increased by 2 and 9 points respectively in the case of Cu and by 1 and 3 points where Zn is concerned. Moreover, the penalty elements in the Cu concentrate are halved.

Jan 1, 1995

By Z. T. Bieniawski

After many significant advances in mining, including development of sophisticated methods for strata characterization and numerical modeling analyses, the engineering design process in mining strata control is as primitive as it was two decades ago. Yet, major advances in design methodologies have occurred in other branches of engineering. Is creative design in mining a myth only? Are we deluding ourselves when we talk about innovative mining design of today? Did you know that most design experts are often unaware of their own decision-making processes? This paper explores the methodology of creative engineering design as a new recognized discipline.

Jan 1, 1987

By Paul R. Thomas

This paper addresses the long-term cost and availability of primary gold production from the Republic of South Africa. Forty-four major producing or developing operations were evaluated. The analyses present estimates concerning 1) total refined gold potentially available from demonstrated resources, 2) annual production potential into the next century, 3) long-term weighted average total costs for underground mine production and surface waste reprocessing, 4) the expected annual decrease in gold production, and 5) the ability of other market economy countries to compensate for the anticipated decline in South African gold output. This paper draws upon the data and analyses of a recent Bureau of Mines, U.S. Department of the Interior, Minerals Availability Program appraisal that evaluated the worldwide availability of gold and silver from primary precious metal operations and as a byproduct of base metal production.

Jan 1, 1984

By Oscar M. Wicken

Iran was a lodestone for the attention of industrial countries and companies wanting to share in its industrial development during the last two decades and particularly after 1972. Prior to 1972, most industrial projects in the private sector were on a relatively small scale and could be carried out in reasonably orderly fashion in spite of limitations of a primitive infrastructure and meager indigenous supply of managerial and technical skills. People with these skills could be found but not in abundance, and many of them were total¬ly engaged in various government ministries and projects. Thus it was that nearly all private sector industries, even long-established ones, required one or more foreigners to give guidance. A barite mine and processing facility was brought on line by Dresser Industries in 1960 without serious operational problems. A few expatriate experts were able to select and train a stable group of staff and production people and establish sound management principles for continued growth. The huge and increasing oil revenues after 1973 gave superficial credence to ideas of the Iranian government that the country could easily finance the jump into the industrial 20th century. All necessary skills and equipment not available in Iran would be imported, and intensive training programs would prepare Iranians for operating the new facilities. Large projects for steel production, copper production, oil refining, petrochemical production, cement production, and others were started or expanded. These are basic industries that consume substantial quantities of refractories. Studies made in 1972 indicated that the existing industries plus expanded and new projects scheduled to come into production would lead to a market sufficiently large to justify a refractory producing plant. Concurrent studies of raw material sources showed that clay, the largest tonnage item, would be locally available; the other raw materials would be imported. Iran Refractories Company (IREFCO) was founded in 1973 and started production in 1976.

Jan 1, 1981

By Isabel F. Barton, Eytan Bos Orent, Mark D. Barton

A new examination of tabular uranium (U)-vanadium (V) deposits within the La Sal district places mineralization in the context of the complex fluid flow history that has occurred in the Paradox Basin and Colorado Plateau. As the only currently producing district of this deposit type in the region, the La Sal district provides excellent opportunities to study deposit- and district-scale features that can serve as exploration guides where exposure is limited. The absence of major structures along a narrow and elongate mineral trend that runs E-W across the southern part of the Utah-Colorado border indicates a regional lithologic control. The trend was likely influenced by Jurassic drainage patterns, as indicated by paleocurrent directions shown in Fig. 1. Fluvial sandstone host rocks in the Jurassic Morrison Formation contain significant evidence of multiple superimposed fluid systems that have progressively changed local mineralogy. Apart from the presence of ore minerals, remnants of fluid systems are preserved as cements including quartz overgrowths, compositionally distinct carbonates, and sheet silicates. New geochronology methods provide constraints on the timing of initial mineralization and later remobilization. U-Pb ages of calcite associated with ore minerals provide evidence for Early Cretaceous mineralization, whereas textures and K-Ar ages show that early-formed V-minerals were replaced at the expense of V-bearing micas and clays during the Eocene. The paragenesis of minerals in U(-V) deposits of the La Sal district reflects the complexity of a sedimentary

Feb 1, 2025

By M. P. Adamson, Bryson D. Trexler, R. V. Ramani, Mark L. Koenig, V. Rajaram, Alan Burton, C. S. Crocker, Kim. Y. C., A. G. Law, William C. Larson

Another record year vas experienced by the mining industry as the value of nonfuel minerals production soared to $23.5 billion-up 15% from the previous year. Based on preliminary estimates by the Bureau of Mines, US mine output was the basis for about $225 billion worth of minerals-derived materials. Metal mining accounted for $8.5 billion, or 36%, of the total. Of the 22 metals produced in the US, 11 showed quantity increases, while 16 had value increases. Business Week's survey of 1200 companies (Mar. 17, 1980, pg. 81) revealed that 21 metals and mining companies had sales increases of 30% with earnings up 104%. Higher prices and increased demand for metals were primary factors behind the improved performance. The steel sector reported a 30% decrease in earnings for the year, but the slump was primarily the result of a $383-million loss for US Steel coupled with a 17% decrease in earnings at Inland Steel. Other firms did well in 1979, with earnings up 279% at Interlake and 269% at Kaiser Steel. Major obstacles facing the steel industry included substantial tonnages of dumped and subsidized imports, environmental expenditures, runaway inflation, and price controls. Turning to nonmetallic production, of the 49 commodities reported by the US Bureau of Mines, 29 had higher outputs and 39 had increased values. While production statistics may seem encouraging, government regulations continued to stifle industry efforts to develop needed new capacity. A case in point may be publication of the Environmental Protection Agency's simplified procedure to streamline five permit programs by consolidating them into one. The five included: hazardous waste management, national pollution discharge elimination, dredge and fill, underground injection control, and prevention of significant deterioration. The new procedure, published by EPA in the Federal Register, took 149 pages. AMC's J.A. Overton, Jr., noted that (MCJ, Nov. 1979, p. 39) to visually depict the complexity of the proposed regulations, Sell Oil Co. developed a flow chart mapping a path through one section. The chart required 10 days to map and two weeks for two draftsmen, using computerized drafting techniques, to plot the results. Overton said, "Perhaps the greatest service EPA has performed in preparing its proposal is to demonstrate again that federal regulations have become a complexity compounded by confu¬sion that culminates in a conundrum." While regulatory agencies promulgate new regulations, the lack of a cohesive government minerals policy remained a matter of significant importance to mine management. A non-fuel minerals study to provide input to the Administration for a national minerals policy program was a dismal shock, according to Rep. Jim D. Santini (D-NV). He said the first phase of the program, which was to identify industry problems, failed to come to grips with the hard decisions necessary regarding these problems, their impact, and their interrelationship. Santini said the report failed to acknowledge government's role in the process and absolved the government of any adverse influence on the domestic minerals industry. In response to the phase one report, eight senior mining executives testified before Santini's House Subcommittee on Mines and Mining concerning mineral supply, access to foreign sources, environmental protection, conservation and recycling, national security, and capital formation. By year's end, Rep. Santini promised to prepare a hard-hitting committee report on problems affecting the non-fuel minerals industry to provide a better base for subsequent policy recommendations (MCJ, Jan. 1980, p. 34). On the technological front, interest again centered on mechanization, automation, and scaleup to improve and expand production. Computer use increased for calculation of ore reserves, mine planning, operations research, and mineral processing.

Jan 5, 1980

By John W. Tieman

The increasing magnitude of our nation's pollution problems seems to stem from two main factors: urbanization and technical advance. In 1920, less than half the country's 106 million people lived in cities. Forty years later, the urban population accounted for 70 percent of the nation's 179 million. It is predicted that by the end of the century, 95 percent of the U. S. population, estimated at 280 million, will live in urban areas. As these people live increasingly in city concentrations, their residues also concentrate. With technological advances to support the increasing population, the variety and quantity of goods that we use also increases. New materials and processes result in increases in pollutants, some of them new. The harmfulness of these pollutants is sometimes known, but sometimes only suspected. One pollutant of concern at the present time is sulfur dioxide, the product of combustion of sulfur-containing fuels. Research on processes to remove sulfur oxides from flue gas has been in progress for many years. Pioneers in this field were the British who, in the early 1930's, installed a full-scale flue gas scrubbing unit on a 120 MW boiler using alkaline water from a Thames estuary plus chalk. Since that time, various methods have been studied by many investigators. Federal laws covering air pollution started with the 1955 Air Pollution Control Act. With the advent of the Air Quality Act of 1967, and subsequent publishing of criteria and available technology for control of sulfur oxides in January 1969, the clamor for information on commercially available control techniques to remove sulfur from fossil fuels has rapidly increased. Although many state-of-the-art papers have deluged the literature during the past several years, the research going on in the area of sulfur oxides control is of such importance that periodic reviews are justified. It is the purpose of this paper, therefore, to again review the state-of-the-art, but this time from the stand-point of what is immediately commercially available

Jan 1, 1972

By Peter G. Chamberlain

Many mining engineers considering in-place leaching for the first time are uncertain as to how to evaluate ore bodies for potential leachability. Evidence presented in this report emphasizes the critical role of permeability in such evaluations. Whether an engineer is considering leaching "tight" formations typified by the porphyry copper deposits of the southwest or the permeable uraniferous sandstones of Texas and Wyoming, permeability measurements are the keystone of any testing program. Permeability tests range from cheap and easy to highly expensive and sophisticated operations. Constant head, variable head, and pumping tests all have application in evaluating ore bodies for in-place leaching. Costs of these tests will not unduly deflate the pocket- books of most mining companies. The basic procedures for selecting and running these field tests-including preparing suitable wells--are reviewed for the benefit of newcomers to in-place leaching.

Jan 1, 1979

In spite of our deep conviction that it would be wrong for the United States to enter World War II, when, after Pearl Harbor, we were actually in it, I felt that I must do all I could to help. The country had been so good to me that I could not decently stay on the sidelines. My first thought was that I might help with supply and administration in the Air Force, as in World War I. So on the evening of Pearl Harbor I wired the chief of our Air Force in Washington saying that I had been on Gen. William Mitchell's staff in World War I and was offering my services again. I received a noncommital answer, but after a couple of weeks was told to take my physical examination. I passed it, but nothing further happened. After helping to make plans for the wartime operations of Summit King and Desert Silver, Dorothy and I went to New York to spend Christmas with Molly and Peter, both of whom were in college in the East. I had to complete a report on the Argonaut mine in California first, though the war made my recommendations of dubious validity. Before Christmas I received wires from Temple Bridgeman, Phil Wilson, and other friends who had taken positions with government agencies responsible for securing mineral products needed for war use. They urged me to join them. It was evidently a case of not whether but how I could be most useful. After six uncertain days with the family in New York I took the night train to Washington on the 28th of December. I had a hectic day there. First I saw Arthur Bunker and Phil Wilson at what became the Aluminum and Magnesium Division of the War Production Board. Their office was in an old converted barracks. They asked me to examine magnesium deposits in Nevada at once, and then to look at other magnesium and aluminum properties. After leaving

Jan 1, 1976

By Carl Heising

Longwall workings in the Federal Republic of Germany are situated in deep depths. Coal deposits are characterized by a sequence of many seams and manifold geological disturbances. Hence result special requirements on the layout of workings, the methods of coal getting, supports, mine ventilation and dust control. As for the application of dust control the large quantities of fresh air and, this, the high air velocity and the limited water contents in the run-of--mine coal must be taken into consideration. The principle of our methods of dust control is to avoid, if at all possible, the development of dust and, if this is not possible, to suppress the dust even during its development. In nearly all coal faces, the method of water infusion prescribed by our Mines Inspectorates is applied. Continuous water in- fusion is preferred. For water infusion in the coal face, intensive developments as to the process and as to the tools and apparates to be applied were done. The German coal mining industry differs between cutting coal getting and stripping coal getting. Water spraying to the tracks of coal ploughs as well as internal and external water feed to the loader required special activities of further development in past years. There are possibilities to still improve such methods in future. A new important field of applying dust control developed from the application of powered supports. In this field, water spraying prevails. Wet methods of dust control are prefered also in the conveying and loading of coal and at through-flow crushers, however, as far as possible, combined with a covering of the working points where dust develops. Devices for the collection and sedimentation of dust, so-called dust exhausters, are used also with crushers In advanced headings, dust control is performed solely by water. Gateroads kept on or behind the coal face line call for new methods of dust control which are at present under development.

Jan 1, 1980

By D. R. Buist

The Taharoa plant of New Zealand Steel Mining Limited extracts a 57% Fe titano-magnetite concentrate from a large mineral sand deposit 90 miles south of Auckland on the west coast of New Zealand's North Island. The plant consists of an 18-inch suction cutter dredge which feeds a 750 TPH floating separation plant. An initial gravity/ size separation is obtained using cone concentrators. Finished concentrate is produced by a combination of conventional drum magnetic separators and top fed wet Mortsell magnetic separators. Concentrate is stockpiled by cyclone, and reclaimed by a bull- dozer and tunnel system. Repulped concentrate is pumped by sub- marine pipeline to slurry tankers anchored at a single buoy one mile offshore. Current concentrate production rate is in excess of one million metric tons per year.

Jan 1, 1973

By Osvaldo A. Bascur, J. P. Kennedy

Companies have installed powerful desktops for their personnel and instrumentation and control systems in their plants. These desktops are, in many cases, connected to a company intranet. Still, process engineers have to obtain their data manually. Engineers use process calculations from manually calculated averages from the plant; field operators collect equipment data on log sheets; and maintenance engineers collect critical information on log sheets. All of this information resides in individual machines. What are the strategic tools that will enable collaboration between them? How can operators, engineers, and managers access plant information to proactively increase their effectiveness in process troubleshooting, plant debottleneclung, aligning with business strategic and customer demand, satisfying environmental and safety regulations, developing capital projects, and implementing control strategies? A nonintrusive environment at the desktop is required to provide the process information to these workers. How can value be added to MS Windows technologies with the legacy systems at a minimum cost? There is no straight answer; however, there is a proven framework to leverage the large investments in new technologies. Objects and components are changing the way everyone relates to their computer and networks. Three examples will be described to demonstrate paradigm change. Today, process engineers can access data at the required level of detail for analysis of critical process variables at their desk or remotely. 1. Process Troubleshooting and Analysis: The engineer can develop an inferential calculation, trigger a process advisor to deter- mine the behavior of the units for the last day, and get the population of a set of batches (heats, blocks, rolls, sheets, etc). 2. Process Control and Optimization: The engineer can connect to a process simulator at steady state or a dynamic simulator of the process to evaluate new control strategies or process unit line-ups and use the process simulator as a process observer for fault diagnosis. 3. Collaboration with Accounting and Maintenance: The engineer can review reconciled data and the process mass balances, suggest maintenance cleaning or recalibration of flowmeters, and evaluate key control performance of all advanced controls.

Jan 1, 1999

By Stefan Lorenz, Robert Galler

"The technical lifetime of underground structures does not only depend on the long-term behavior of individual support elements and material characteristics, but also on various boundary conditions, which influence the entire long-term system behavior of the structure. Thanks to the construction of second tunnel tubes and the corresponding cross passages sampling of support materials such as shotcrete, concrete of the inner lining and rock bolts including sheet membranes is possible. To evaluate the stresses and the supporting effects of the tunnel shells, flat-jack tests and different simulations were performed. With these simulations the percentage of the load bearing behavior of the shotcrete shell can be determined. From the results, conclusions for new design approaches for tunnel construction should be generated. New concepts, in which the outer lining is part of the permanent support elements can be considered. This approach would be applicable for conventional as well as mechanical tunneling. INTRODUCTION Tunnels are an indispensable part of modern transport infrastructure. As multi-generation structures their long-term preservation as well as their technical service life is of central importance. The current state of research in the field of durability of structural elements must be considered separately. In almost all areas a prediction of materials and structural components towards lifetime exists. System-wide investigations were rarely performed, so that there is no technical lifetime consideration of the outer lining in systems included. In this study the mechanical behavior of the interface connection in a double shell lining (DSL) tunnel was investigated in laboratory tests. Objective The target of this work is, at first, to create a large database with the lifetime of different structural elements and materials, which may be the basis of durability considerations of tunnels. Secondly, the goal of these investigations is to optimize tunnel designs and their dimensioning regarding to the technical lifetime. For that matter, it is necessary to analyze the selected approaches of the loss of strength and stiffness of the outer lining."

Jan 1, 2016

By JA Vallejos

High stress underground mining poses a significant challenge to rock mechanics and rock engineering. To overcome theses challenges significative improvements in solutions and best practices of the design and operation of mines under high stress have been developed and implemented. This paper presents certain topics related to the management of high stress for sustainable underground mining. The topics include; the effect of preconditioning techniques (destress blasting and hydraulic fracturing) in the seismic rock mass response to underground mining and the dynamic behaviour of rock support systems. The opportunities associated with research in rock mechanics and practical rock engineering are discussed.

Apr 26, 2022

By A. Adhikari, P. Tukkaraja, S. Jayaraman Sridharan

Shafts are critical components of the mine ventilation systems and contribute significantly to the mine ventilation pressure. Estimation of shaft pressure losses is an important aspect of mine ventilation planning and shaft frictional pressure losses are extensively studies. Shock losses contributed by shaft buntons are estimated using the interference factor model developed half a century ago. This study aims to develop a better performing prediction model for shaft buntons using state of the art experiment and numerical data, and machine learning techniques. Results show that the present prediction model is performing poorly, and the prediction performance can be improved by incorporating additional predictor variables. The Artificial Neural Network standardized Machine Learning model developed in this study is able to predict the shaft bunton shock loss with high accuracy (R2 = 0.956).

Jun 25, 2023

By R. C. Beers, R. J. McKinley, R. D. Stewart

Preliminary test results at Occidental Research Corp.’s Irvine, CA, research facility indicate the viability of a new induced fluorescent sorting technique for preconcentration of limestone, coal, and oil shale. The patented “Oxylore”* process is a preconcentration stage that takes advantage of selective surface chemistry to label either ore or gangue particles with a fluorescent coating that can be detected by activation with ultraviolet light. The technology was originally developed by Ted Matthews (SME-AIME Fall Meeting, 1974, Preprint 74-B-328) and was acquired by Occidental in 1977. The firm has continued development of the process since its acquisition.

Jan 6, 1980

By Liu Cheng-si

Variable airway is controllable, which is an important discovery in ventilation research in recent years. For this reason, conventional calculating methods are no longer suitable to solve this problem. I used Mayeda-Seshu and Newton methods to solve the above problem before, they have been proved feasible. However, it is troublesome and difficult to apply to operation with a large amount of calculations. In this paper combination theory and simplified formula are used in determine all control plans and its parameters. This new method with less calculation is easy to understand and master, so it is more important in research and application.

Jan 1, 1997

By N. Demirel

Estimating productivity of a walking dragline is of paramount concern to mining engineers and mine planners. Risk based evaluation of the dragline productivity is a valuable tool to estimate the dragline?s long-term performances and availabilities, to develop preventive maintenance plans, and to make future projections about the machine?s performance. This paper aims to provide mining professionals with an overview of risk assessment methodology for productivity of two walking draglines, PAGE 736 and MARION 7820, which have been operating in Tunçbilek open cast coal mine of Turkish Coal Enterprises (TKI) in Turkey. The study encompasses three main stages as: (i) acquiring of monthly maintenance records, operating hours, mechanical and electrical failure hours between 1998 and 2009; (ii) reliability modeling using mean time between failure data; (iii) determining hazard rate and consequences to compute risk associated with dragline productivity. The results showed that that Page 736 (20 yd3) is seemed to be more reliable and less likely to fail when compared with Marion 7820 (40 yd3). The operating hours without failure range from 41 to 51 hours with 50 percent reliability.

Jan 1, 2011

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