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By Arthur Grounds

Historical In the course of a paper which is necessarily limited in length, such as the present one, it is obviously impossible to describe in detail the history, development, and present position of coal preparation in Western Europe. Great Britain has been blessed with large deposits of excellent coal of nearly every type, ranging from the high-grade anthracites of South Wales, which are characterised by their very low ash and volatile con-tents, to the superb coking coals of South Wales and Durham -probably the finest in the world -with their low ash and sulphur contents, the latter constituent often well be-low l per cent. Gas coals abound in Lancashire and Yorkshire, while coals from the East Midlands, Northumberland, and Scotland are excellent for steam-raising and other industrial purposes. The excellent quality of these various coals has, in years gone by, ensured ready .sales abroad and it is not surprising, therefore; that methods of coal preparation were largely developed on the Continent in an endeavour to upgrade the inferior fuels found there, so that the prepared product could compete with British coals on the European market.

Jan 1, 1951

By E. J. Peuraniemi

Primary copper production using suspension smelting techniques like Outokumpu Flash Smelting always causes some dust formation. Flue dust particles are formed when sulphide feed material reacts violently with oxygen inducing particle disintegration and total desulphurisation of fragments. In the process, flue dust follows the off-gases to the heat recovery boiler (HRB) where its sulphation takes place because of prevailing conditions. Sulphation releases heat and causes also a drop in particle melting temperature and, further, particle sticking to the walls and heat exchange tube banks. Sulphation of synthetic CU20 particles were examined using a laboratory scale fluid-bed reactor. This study aims to a better understanding of flue dust behaviour in a HRB and, thus, to a better operational practise and design of a HRB. The effect of PSO/PO2 -ratio and temperature on the sulphation kinetics were tested. Standard chemical analysis, light optical and scanning electron microscopy with energy dispersive spectroscopy were used to examine the samples.

Jan 1, 2001

By E. K. Stanek

This report contains the results of an investigation into the feasibility of periodically measuring parameters of the insulation for a mine electrical power system in order to detect incipient faults. The variety of insulation parameters evaluated included insulation resistance, dissipation factor, power factor (vs. applied voltage), current harmonics, leakage current, infrared radiation, as well as certain circuit breaker parameters and tests. In order to augment field tests a program of accelerated life testing was also carried out. Apparent inconsistencies in data were identified as the result of environmental effects, primarily temperature and relative humidity. A series of environmental tests were conducted to develop correction factors that allow one to refer measured parameters to standard conditions. A portable data collector was develop-ed to aid in the accurate collection and analysis of laboratory and field data. The primary conclusion is that insulation deterioration can be measured and failure predicted with reasonable confidence. The secondary conclusion is that most of the tests are impractical in the field although useful in the laboratory. Infrared sensing, insulation resistance and dissipation factor are the best insulation field tests when portability is taken into account.

Jan 1, 1979

By William J. Krisko

This contract final report summarizes the design, fabrication and testing of a "line brattice air curtain" device under Bureau of Mines Contract H0357097. The purpose of this program was to develop the concept of using an air curtain for coursing ventilating air parallel with the air curtain From the last open crosscut to the face in exhausting ventilation systems to replace the line brattice cloth in room and pillar coal mining operations. The final design of the air curtain device consists of a 10-foot long closed end pipe with c: slot cut along its length. Pressurized air is delivered to the open end with a hydraulically-driven blower. A sheet of air emanates from the slot and is directed toward the mine roof. An invisible sheet of air is thus created between the top of the machine and mine roof and acts a an extension of the existing conventional line brattice.

Jan 1, 1977

By Marco V. Ginatta

Current world production, 60'000 ton/y, is exceedingly too small for titanium's extraordinary combination of favorable properties; it should be 1,000,000 ton/y (7% of stainless-steel). Prices that competitively sustain that sales volume are achievable only with electrolytic production, as it is for all other commercial nonferrous metals. But titanium does not have its commercial electrolytic plants yet, because of producers decisions and strategies, scientists works, industrial problems with chloride process, lack of consumers sponsors. Fluoride high temperature process has the advantages of aluminum electrolysis, plus other favorable characteristics specific to titanium and its feed material. One electrolytic titanium potroom replaces several different plants used for sponge production. Production of titanium ingots with zero defect is achieved. The solidified cathode rectangular slabs are suitable for direct rolling.

Jan 1, 2001

By Jr. Hazen

Two statistical techniques, the mean-square-successive-difference test and correlation, are used to investigate the problem of assigning an area of influence to an assay. Data from five hydrothermal deposits, Climax molybdenum, Cebolla Creek titaniferous iron, San Manuel copper, Piedra Hueca copper, and Butte copper, are studied. Two groupings of the assays are used for the mean-square-successive-difference tests. One group involves an increasing sample volume by reaveraging assays to represent a longer sample intervals, the other by regrouping assays to represent longer sample intervals without a change in sample volume.

Jan 1, 1967

By Graham W. Marks

Recently it was shown the total energy method of spectrochemical analysis is suitable for the quantitative estimation of many of the elements of which ores are composed. It was shown how this method can be applied to the determination of germanium, tin, and lead. Continuing, this work, the present report deals with analyses for beryllium, zinc, cadmium; and indium. There are three basic problems in these investigations. The first is to study the influence of those elements that make up the greater part of an ore sample on the spectral-line intensities of the elements for which analyses are being made, the latter generally being the minor constituents. The second is to develop proper methods for the preparation of standard spectrographic curves. Finally, we are concerned with improvement in equipment and procedure, so that greater accuracy can be achieved. As discussed previously, it is better to study as groups those elements that belong to the same group in the periodic table because their spectra are similar. Beryllium, zinc, and cadmium are thus related. Indium was included in this work because it is, associated with zinc and cadmium in zinc ores.

Jan 1, 1948

By M. Rizwan

Mine workings are progressing to greater depths as shallow mineral resources are being depleted, and civil engineering projects are nowadays being developed at substantial depths. The threat to tunnel stability posed by rockburst events has increased as a result of these high stress environments. Rockbursts are violent events capable of mobilizing large volumes of rock. In addition to the threat to safety and equipment, rockburst damage can significantly impact on operations, and cause loss of mining production, often the largest cost component of such events. Rehabilitation of such damage requires significant effort and resources. Tunnel walls and roof are usually well supported, but the installation of rock support in the floor is uncommon, particularly in mining environments. In the absence of rock support, floors of the excavations are vulnerable to rockburst damage. New concepts for containing damage of excavation floors by dissipation of the large transient forces using simple techniques or preselected and designed elements of sacrificial floor systems are presented. Two approaches to calculate the demand are presented: estimating load demand by assuming displacement levels and a response modification factor; and using a limit displacement approach to calculate elastic stiffness of the selected elements of the sacrificial support system. The proposed conceptual support systems have the capability of dissipating rockburst energy while retaining sufficient serviceability. It is considered that the concepts presented, for discussion, in this paper are logical and developable into practicable and economic solutions for tunnel floor support in rockbursting environments.

Jan 1, 2015

By S a m u e l D e a n

The author's written response to previous discussion was presented at the North of England Institute of Mining and Mechanical Engineers general meeting held in Newcastle-upon-Tyne, 8 April 1916, followed by further comments by Hare S. in support of his view that the conditions in English mines were the reason for less satisfactory results being obtained with heading machines and brief comments by Greener T.Y., President

Dec 1, 1916

By Stephen C. Tadolini, Minova USA Inc., Peter S. Mills, David R. Burkhard

"Fiber-reinforced spayed concrete has been used for several years in civil and tunneling operations. Research conducted to reduce cure times and increase compressive and flexural strengths resulted in the development of Tekcrete Fast®, a cementitious product capable of obtaining 41 MPa (6,000 psi) compressive strength and 8 MPa (1,200 psi) flexural strength in only 3 hours and reaching 7 day strengths of 62 MPa and 11.7 MPa (9,000 and 1,700 psi), respectively. A single bag product that uses conventional shotcrete and gunite application systems make it a natural crossover product for mining applications. The discovery of incredible adhesion properties and high resistance to chloride permeability helps ensure long-term stability and increases the ease of application. Project results from Disaster City® in Texas and the application for rehabilitating a coal mine belt entry are presented. The case study illustrates the effectiveness of the product in stabilizing a coal mine beltway and adjacent cross-cuts that were subjected to progressive sloughage due to humidity and cyclical loading. INTRODUCTION Original research produced a shotcrete formulation that extends beyond stabilization and can be used to restore the structural integrity of damaged infrastructure. The primary challenge was to develop a shotcrete or gunite that had structural strength within a few minutes to prevent parasitic loading, allowing ingress into damaged structures minutes after applying the mix formulation. This also applies to mining conditions where rapid support of progressive failures can minimize failure. An additional benefit was discovering that the product had extremely high adhesion properties in addition to high flexural strengths. The approach to product design was the development of “single bag” dry mixes that are entirely self-contained, can be rapidly transported anywhere in the field or underground, and can be deployed using simple equipment. Dry mix eliminates issues relevant to high shear water mixing because water is added in the form of a mist at the point of delivery; thus a low water-to-cement ratio can be achieved. However, since there is no onsite powder mixing, the product must have a high degree of inherent homogeneity. Minova offers a commercial version of this material, Tekcrete Fast®, a product that has been successfully deployed in the mining industry and is currently being used in civil, construction, and tunneling operations. The material can rapidly stabilize lose ground in metal, nonmetal, and coal mines. This paper described the technology development, product testing results, and applications and describes a case study to stabilize a coal mine beltway."

Jan 1, 2017

By Frederick H. Raab

The electromagnetic retransmission system is a new, automated method of locating trapped mine workers. This technique overcomes many 1 imitations inherent in electromagnetic direction finding by reducing the effects of the conducting ground to an acceptable maximum, by finding position accurately in the presence of antenna tilt, and by eliminating the need for the receiver to be located directly above the subsurface transmitter. Three transportable three-axis magnetic-dipole transmitters on the surface create a system of electronic grids in which the phases of the downlink Signals convey position information. The subsurface retransmitter modulates the uplink carrier of the existing beacon transmitter with the received downlink signal; the coal-pillar loop antenna is used for both receiving and transmitting. The uplink receiver uses a three-axis antenna and extensive digital signal processing. A small computer integrates data, estimates position, and controls system operation through VHF-FM communications. Both coal-mine and deep-mine operation are possible by selecting appropriate transmitting power and signal frequencies. This report shows such systems to be both feasible and practical.

Jan 1, 1980

By D L. Reid, G Nwaila, J Petersen, J-P Franzidis, Y Ghorbani, M Becker, F C. de Beer, L C. Bam

Traditional methods of gold extraction have involved comminution and processing via cyanide leaching, all of which are associated with energy, cost and environmental implications. Subsequently, numerous opportunities for improvement and optimisation strategies in gold mining and processing have been explored, including heap leaching, which has significantly lowered comminution costs. This paper explores the effect of the more energy efficient high-pressure grinding rolls (HPGR) on the comminution behaviour (especially on the crack density) and cyanide leaching performance of laboratory reactors study on run-of-mine gold ore comprising the Ventersdorp Contact Reef (VCR) and the Elsburg Reefs (ER), sourced from Carletonville in the Witwatersrand Basin in South Africa. The ore was comminuted using HPGR at three different pressure settings (120, 90 and 60 bar). Large (-16/+11.2 mm) and small (-5.6/+4 mm) particles of the HPGR product where then mineralogically characterised using optical microscopy, quantitative evaluation of minerals by scanning electron microscopy (QEMSCAN) and X-ray computer tomography (CT) before cyanidation. The results of the leach experiments indicated a correlation between gold extraction, particle size and crack density. Mineralogical characterisation of the ore indicates that the Fe-sulfides present in the VCR are likely to be more reactive than those in the ER, thus having a more favourable influence on gold cyanidation. Overall, the results show promise for the heap leaching of Witwatersrand gold ores prepared using HPGR and demonstrate the value of a multi-disciplinary geometallurgical approach.CITATION:Nwaila, G, Becker, M, Ghorbani, Y, Petersen, J, Reid, D L, Bam, L C, de Beer, F C and Franzidis, J-P, 2013. Morro do Ouro geological model with a metallurgical view, in Proceedings The Second AusIMM International Geometallurgy Conference (GeoMet) 2013 , pp 75-84 (The Australasian Institute of Mining and Metallurgy: Melbourne).

Sep 29, 2013

By Larry J. Hulbert, Louis J. Cabri, John L. Campbell, Gilles Laflamme, Chris G. Ryan, Soey H. Sie, Rolando Lastra

"Abstract- The mineralogy of samples from the Wellgreen Cu-Ni-Pt-Pd deposit, Yukon Territory, is complex and the metals of interest are contained within fme-grained minerais which vary in size and mineral associations from sample to sample.The major Ni carriers are pentlandite and violarite; the major Cu carrier is chalcopyrite. About 700Jo of the major Ni carriers and 78% of the major Cu qmier will be liberated at a grind of 80% -'}f,.7 J.Uil (-500 mesh) for typical low-grade gabbro (West zone, sample No. 1). For typical ""clinopyroxenite"" (West zone, sample No. 2) and typical ""clinopyroxene-rich peridotite"" (East zone, sample No. 3) the liberation would be 71""lo and 65% for Ni, 74% and 60% for Cu, respectively. Fine grinding, however, cannot liberate the Ni contained in silicates and pyrrhotite, estimated to total24.5% for typicallow-grade gabbro (West zone, sample No. 1), 15% for typical ""clinopyroxenite"" (West zone, sample No. 2), and 12% for typical ""clinopyroxene-rich peridotite"" (East zone, sample No. 3).The principal Pt carrier (sperrylite) varies considerably in grain-size between samples and fme grinding, required to liberate the major Ni and Cu carriers, may be counterproductive in samples where sperrylite is relatively coarse-grained, as sorne would then be unrecovered (e.g. sample No. 1). In addition, sperrylite in samples No. 2 and No. 3 is closely associated with magnetite.Palladium occurs in diverse ways. It occurs in the form of several Pd minerais (e.g. sudburyite, testibiopalladite, merenskyite), as a replacement for Ni in several tellurides, antimonides and tel­ lurantimonides (e.g. melonite), or as very low concentrations in pentlandite (up to 34 ppm), chal­ copyrite (up to 9 ppm), and pyrrhotite (up to 5.6 ppm). Palladium minerais and Pd-bearing minerals are strongly associated with chalcopyrite in sample No. 1 and will thus report to a Cu concentrate. However, 22% of the total Pd is in solid solution in pentlandite in this sample and will thus report to the Ni concentrate. In samples No. 2 and No. 3, less Pd occurs in solid solution in pentlandite, and the PGM are distributed mainly among pentlandite, chalcopyrite, and magnetite in sample No. 2, and among pentlandite, pyrrhotite, chalcopyrite, and magnetite in sample No. 3. Therefore, the feasibility of magnetic concentration should be investigated for samples like No. 2 and No. 3, in order to improve Pt and Pd recoveries.Rhodium was found to occur as rare hollingworthite, in sparse cobaltite (up to 2.7%) and, as low concentrations in chalcopyrite (to 10 ppm) and pentlandite (to 12 ppm) by proton microprobe. Iridium occurs in hollingworthite (up to 7.8%) and very rarely as the native metal or in an undefmed Re-Ir-Os-Ru alloy. Ruthenium was determined by proton microprobe analyses to occur in pentlandite (up to 13 ppm) and chalcopyrite (up to 10 ppm), in addition to rare laurite and Re alloy."

Jan 1, 1993

By Oren C. Baptist

Umiat field contains the largest accumulation of oil discovered so far in Naval Petroleum Reserve No. 4 in Arctic Alaska. The Umiat anticline was tested with 11 wells; 6 produced oil in varying quantities. Behavior of the wells during testing was unpredictable. For example, one well was abandoned as a dry hole after all tests failed to recover any oil, yet an offset well, only 200 feet from the dry hole, produced 400 barrels of oil a day. The main oil reservoirs are less than 1,000 feet deep and are in the permanently frozen zone (permafrost). Reservoir pressures are low, and most primary production will be by expansion of gas-in-solution in the oil. Because of the unusual reservoir conditions and the difficulties encountered in drilling and completing the wells, the Department of the Navy asked the Federal Bureau of Mines to make laboratory studies of the reservoir sand to determine the cause of well plugging and to provide laboratory information, to be used as an aid in estimating oil recovery from frozen reservoir rocks under solution-gas expansion from low-saturation pressure conditions.

Jan 1, 1960

By B. Rai

Aluminum is produced by the Hall-Héroult process, which involves passing a current through a molten mixture of alumina dissolved in cryolite (Na3AlF6) to reduce the alumina to aluminum. This process occurs in an electrolytic cell comprising a steel shell lined with a carbon cathode and refractory bricks. After a certain period of operation, the carbon cathode deteriorates and is removed from the cell along with the refractory bricks. These removed materials are referred to as spent pot lining or ?SPL?. Typically, 30 Kg of SPL waste is generated for every ton of Aluminum produced. Globally aluminum smelters produce more than 500,000 tons of SPL each year. Even though SPL has a high fuel value (8000 to 9000 BTU/lb) and contains valuable metals, it is classified as a hazardous material due to its cyanide content and leachable fluorides. Various disposal/recycle techniques have been developed over the years for SPL but none of them is satisfactory. Thus, large quantities of SPL are still being dumped in landfills. In some countries, even the land filling of SPL is not permitted. The safe disposal of SPL thus remains a challenging problem to the aluminum industry and the search continues to find methods of converting SPL into a non-hazardous waste and/or recovering the valuable materials contained in the SPL. We have developed a process to produce hydraulic setting cements (eco-cement) containing a novel fluoride rich cementitious phase, from SPL by an energy efficient, low temperature clinkering route. A raw mix blend of SPL, lime/limestone, calcium sulfate and tailings sands based on a set of design criteria developed by us, is clinkered in a two stage process; 2 hours soak at 800 °C followed by clinkering at 1000 °C for another 2 hours, to produce a soft clinker. The SPL eco-cement is made by grinding the clinker to a fineness of 5000 cm2/g Blaine with 1% by weight borax as a set retarder. A good quality cement having as high as 20 % by weight of SPL in the raw mix (28 % by weight in the cement clinker) is thus produced. The physical properties of the SPL cements are found to be comparable to the Indian standard (IS) specifications for Ordinary Portland Cements (OPC). We have produced the cement in a few Kg batches and tested the reproducibility of results from batch to batch for further scale up. Once commercialized, this process has a potential of converting SPL into value-added cement products. Keywords: cement, spent pot lining, clinkering, fluoride, aluminum, ordinary portland cements

Sep 1, 2012

By S. M. I Kytö, J .. K. Mäkinen, K. Saarhelo

"At the Outokumpu Oy Harjavalta Copper Smelter the control philosophy of the flash smelting process has been changed from the slow feed-back control to feed-forward control. This is important as the fluctuations in the flash smelting furnace matte grade and slag temperature are desired to be minimized.The system is based on a specially designed automatic sampling device and the Outokumpu Courier 20 on-stream X-ray fluorescence analyzer. A microcomputer-based Analyzer Operator Station (AOP) controls the system and calculates the process parameters for the furnace from the analyzed chemical composition and other existing data.A considerable reduction in the deviation of the matte grade and slag temperature has been gained. This has resulted in conservation of energy and refractories, lower copper losses and higher through-put in the flash smelting furnace and converters.1.0 IntroductionThe flash smelting technology for copper concentrates was developed at the Outokumpu Oy Harjavalta Smelter soon after the World War II. The incentive for this development was shortness and high price of any form of energy. The fact that smelting can be carried out autogenously, without external energy by utilizing the latent heat of sulfide combustion was known decades before, but Outokumpu Oy was the first company to take the advantage of this knowledge in practical operation. A further advantage of this technology was that the SO2 containing gases suited well for sulfuric acid production, thus minimizing the detrimental effects on the environment (1).The very heart of the flash smelting process is the reaction shaft of the flash smelting furnace (see Appendix I). Heating up of the dried feed mixture, dissociation of several compounds, ignition and oxidation of the feed take place very intensively in the reaction shaft during 2 - 3 seconds, which the fine grained particles reside in the reaction shaft. A very accurate control of the amounts of the feed materials as well as of oxidizing gases, fuel, etc. is of primary importance."

Jan 1, 1989

By G. Duncan

Distinct trends in grinding mill technology have emerged in recent years. In an effort to optimize overall mill performance for the needs of the End User, broad measures of logistical speed, process flexibility, operational risk, and overall costs now exert greater influence on the specification of grinding equipment. As a result, innovative alternatives to conventional grinding mill structures, supports, drives, feed, and discharge configurations are now being offered and selected with greater frequency. This paper investigates these trends in grinding mill technology, utilizing optimization and decision-theory techniques. In particular, the paper considers how specific advances in process design, product engineering, manufacturing techniques, and mining operations continue to relax technological constraints, enabling further mill innovation. In this context, a methodology is presented, illustrating how proper selection and specification of grinding mill components and configuration can target an optimization of the four End-User performance measures listed above..

Jan 1, 1999

By G. E. Erdman

This paper presents talc milling guided by a theme of "So You Want to Be In The Talc Business". Such a theme strikes a cautionary note to warn the uninitiated of potential pitfalls, and this paper will cover briefly some of the technical traps as well as one of the larger talc milling operations. It is important to our purpose to pre- sent some of the market and mineral complications that make the business of producing and selling industrial talcs much more intricate than an outsider would perceive. Metal markets by comparison are great worldwide pools into which production streams of generally identical metals can flow over a weir of market prices. Industrial talc markets are not as well defined and often must be developed by the producer working closely with a specific customer or groups of customers to prove out the attributes of the specific product from a new property. All the negatives of a new market seem to work against the introductory talc in the forms of industry or customer reluctance to change, sales prices, cost of delivery, mode of transportation, health considerations of the minerals and many more. Just locating the potential customers for a new industrial talc may be a substantial undertaking. Thus, an analogy of the worldwide metal market might compare starting a new talc operation to trying to gather up enough fallen rain drops to be able to start a production stream of a worthwhile size.

Jan 1, 1984

By Basil B. Zavoico

PRODUCTION of crude it in the United States during 1939 totaled about 1.255,776,000 barrels, an average of 3,440,482 barrels per day, 3.41 per cent above the 1938 output of 1,214,355,000 barrels but 1.83 per cent below the record pro¬duction of 1,279,160,000 barrels, in 1937. However only the two-week shutdown of oil fields in the Southwestern States in August and September prevented the domestic crude production from establishing an all-time record in 1939. Demand for all petroleum products for the first ten months of 1939 showed an increase of 7.04 per cent over the similar period of 1938. Domestic demand for all petroleum products was particularly benefited by the increasing industrial activity, advancing 8.37 per cent above the like period of the preceding year equivalent to a volume increment of 256,810 barrels per day; with motor-fuel demand gaining 5.83 per cent and demand for all fuel oils gaining 12.15 per cent over the corresponding period of 1938. The export demand for the first ten months of 1939 was slightly below the export movements during the same period of 1938, declining 0.56 per cent. The European war was a major factor in 1939 for the petroleum industry in the United States, even if, at the end of the year, the war had not yet resulted in the expected large shipments to England and France.

Jan 1, 1940

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