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By L Smith, R Beckie

Controls on environmental loading from acid rock drainage (ARD) are not well understood in waste rock material. In particular, relationships between subsurface flow and the timing, duration, and intensity of leaching of metals and acidity from waste rock dumps remain ill defined. This study investigates field-scale relationships between subsurface flow processes and geochemical processes in unsaturated waste rock. A 12-metre tall, unsaturated waste rock pile, constructed in 1994, was deconstructed and sampled at Key Lake, Saskatchewan, Canada, during the summer of 2000. A detailed sampling methodology was developed to characterise physical and chemical properties of waste rock material within the waste rock pile. Physical properties were characterised by measuring soil-water suction, volumetric water content, and grain-size distribution at 60 random locations within the pile and grain-size distribution at 20 grid locations within the pile. Attempts to develop a field-based soil water characteristic curve from physical field-data failed due to spatial variability and hysteresis of waste rock properties. As a result, grain-size distribution was used as a relative measure of subsurface flow. Paste pH, pore-water geochemistry, mineralogy, and water-soluble extraction results were used to characterise geochemical processes and sulfide oxidation at each of the 20 grid locations. Geochemical characterisation results demonstrated the preferential weathering of marcasite relative to pyrite and chalcopyrite. Dolomite was the main buffering carbonate mineral. Gyspum, jarosite and iron oxyhydroxides were the main secondary minerals. Pore-waters contained up to 800, 11.7, and 6 mMolar (78 000, 690, 1400 mg/L, respectively) of sulfate, nickel, and uranium, respectively, suggesting significant weathering has occurred. Measures of weathering indicators show no discernable correlation with grain-size distribution nor do they show any spatial relationship within the sampled grid. Reasons for this may include limited duration of waste rock exposure to weathering and development of fluid flow-paths, and limitations of characterisation methods used. Indeed, six years may not be long enough for weathering patterns to develop due to fluid flow-paths in this unsaturated waste rock pile.

Jan 1, 2003

By Norman Paley, Zachary Pickett

The Red Dog Mine is a high-grade zinc-lead mine located in northwest Alaska which began operations in November 1989. In June 2014 the upper half of a charge in a trim shot in the Aqqaluk pit deflagrated. No other holes in the area were observed to react and the remainder of the pattern was shot without incident. This was the only known case of a deflagration in the 25 years of operations. As part of the investigation into the cause of this incident rock samples were obtained from the area of this hole and from other areas in this pit.

Feb 1, 2020

As part of its regular program to provide timely information on domestic mineral commodities, the Bureau of Mines conducted an engineering appraisal of more than 1,300 lode and placer gold deposits in the United States to deter-mine their gold production potential. While these deposits were estimated to contain over 400 million ounces of gold, only 9 million ounces, or slightly more than 2 percent, was found to be producible at $35 per ounce under prevailing mining and metallurgical technologies. The study revealed that any significant increase in available gold in the United States is most likely to come from the discovery of new sources, intensive exploration and development of the more promising known mineralized areas, and development of new or improved mining and metallurgical techniques.

Jan 1, 1967

By H. C. Morehead

The United States Cement, along with other industries, is being devastated by an unprecedented penetration of domestic markets by imported products. The overriding questions are: 1. Have foreign manufacturers improved their processes to an extent they can outperform U.S. producers in their home markets? 2. Is it gross inefficiency on the part of the U.S. producers that is allowing foreign producers to be capable of replacing a local U.S. producer in his normal home market? 3. Is there a combination of the first two questions that economically justifies this type of market overrun? The answer is a simple NO!. In a fair trade market atmosphere, U.S. producers are definitely competitive.

Jan 1, 1985

By J. F. Burr, D. P. Snyder, G. W. Luxbacher

"The Mine Improvement and New Emergency Response Act (MINER Act) of 2006 (PL 109-236, 2006) established the Office of Mine Safety and Health, functioning as the Office of Mine Safety and Health Research (OMSHR) within the National Institute for Occupational Safety and Health (NIOSH) and provided authority for awarding contracts related to the development and implementation of new mine technology and equipment. The OMSHR external contracts program was formed in accordance with the MINER Act and has since issued more than 150 contracts focused on worker health and safety. Initial funding for this program was provided by the United States Congress through two emergency supplemental appropriations and was focused on emergency oxygen supply, communications and tracking, and refuge chambers (also referred to as refuge alternatives). Since the MINER Act, Congress has continued to fund the program through the annual NIOSH mining appropriation. The program was supplemented starting in 2009 with an academic capacity building program directed toward developing university tenure-track faculty and facilities and supporting graduate students in the area of mine ventilation. Ground control was added as an additional focus area in 2011. A short synopsis of each contract is published on the NIOSH Mining website (www.cdc.gov/niosh/ mining/researchprogram/contracts/index.html) and final reports are available in digital form on request. A summary of the progress OMSHR has made over the 10-year period since the Act was published previously (Snyder et al., 2016).External contracts are broadly classified by the following areas:• Communications and tracking.• Emergency response.o Self-escape and breathing air supply.o Refuge alternatives.o Escape and rescue.• Equipment safety.• Fires and explosions.• Ground control.• Mine environmental systems (mine ventilation and atmospheric monitoring).• Worker/workplace health and safety.Contracts are issued under a request for proposal (RFP), through a broad agency announcement (BAA) or under an interagency agreement (IAA). An RFP solicitation includes a specific problem description and a well-defined scope of work to guide the offeror in preparing a bid to conduct the research. Under the BAA several problem areas are described and the offeror develops the scope of work and deliverables for the proposed research. An IAA is very similar to an RFP except it is a contract between two federal government agencies."

Jan 10, 2018

By D. Lui, B. G. Thomas, B. Ho

"Results from mathematical models and plant experiments are combined to quantify the effect of transverse depressions and oscillation marks on heat transfer in the continuous casting mold. A heat transfer model has been developed to calculate transient heat conduction within the solidifying steel, coupled with the steady-state heat conduction with the continuous casting mold wall. The model features a detailed treatment of the interfacial gap between the shell and mold, including mass and momentum balances on the solid and liquid powder layers. The model predicts the solidified shell thickness down the mold, temperature in the mold and shell, thickness of the resolidified and liquid powder layers, heat flux distribution down the mold, mold water temperature rise, ideal taper of the mold walls, and other related phenomena. The important effect of non-uniform distribution of superheat is incorporated using the results from previous 3-D turbulent fluid flow calculations within the liquid cavity. Results from plant experiments confirm that transverse surface depressions and oscillation marks form at the meniscus and move down the mold. Measurements of mold thermocouple temperatures and breakout shell thickness were used to calibrate the models. The results indicate that the surface depressions and oscillation marks are filled with mold flux, but still have a significant effect on decreasing heat transfer. The predicted mold temperature fluctuations are consistent with measurements. If the depressions become filled with air, their effect is greatly increased. These results should be useful in the difficult task of interpreting transient mold thermocouple signals for on-line quality monitoring.IntroductionMany different types of intermittent surface defects on steel slabs arise during initial solidification in the mold of the. continuous casting machine. These defects include deep oscillation marks, surface depressions, and cracks. They may lead to quality problems, such as slivers, in the final rolled product. In severe cases, breakouts may occur, where liquid steel bursts through a thin section of the shell and drains over the casting machine below the mold."

Jan 1, 1997

By Su-Ping Peng

Three dimensional (3D) seismic exploration has been carried out since the 1980s in the mining district of China, where it has been playing an indispensable role in the high yield and efficiency of coal mining. Unlike oil exploration, this technique uses high density seismic acquisition technology. In recent years, it has focused on wide azimuth 3D seismic acquisition. Evaluation of geometry moved away from depending on folds, azimuth and offset, toward being based upon a focus-ray beam. Conventionally, coalfield 3D seismic interpretation focused on time domain and was based on kinematics information, which is only suitable for less complex geological conditions. To achieve high-resolution processing for the complex topography and structure in coalfields, data processing shifted from poststack to prestack. The means to improve the accuracy of interpretation for complex geological conditions are 1) integration of multiple attributes and multiple disciplines, 2) combination of seismic and geological data, and 3) comprehensive combination of time domain and depth domain data. With the demand for lithological exploration, high-resolution data processing must also take into account the requirements of preserving amplitude in seismic data. Seismic attributes technology, seismic inversion technology, and dynamic tracking interpretation are key techniques in 3D seismic exploration. They greatly improve interpretation accuracy, produce better results in the goaf space description of the coal-bearing strata and coal seam structure, and effectively reduce exploration costs under complicated geological conditions. Therefore, these techniques will be the primary means employed in the future to deal with coalfield complex structure and lithological exploration.

Aug 1, 2013

By I. C. Spangenberg

The status of sampling practices in the gold mining industry in Africa was determined as an initial step in a process to standardize sampling practices in the mining industry. Twenty-one gold mines, twenty metallurgical plants, and thirteen laboratories were rated for the potential influence of the relevant sampling errors on each component of the particular sampling system. The findings of the study on the status of equipment, standards, procedures, and management principles were presented in a dissertation (Spangenberg, 20121) and are now used by AngloGold Ashanti?s mines in the quest for correct sampling practices. The information is also used to compile a guideline on leading practice procedures for sampling methods in gold mining. This article is an overview of sampling best practice found in African mining Keywords theory of sampling, best practise, sampling errors, sampling standards.

Jan 1, 2014

By Francis Breton, Daniel Larouche, Pierre Heugue, Rémi Martinez

"Nowadays, in order to fit environmental restrictions, automotive markets are demanding cast aluminum alloys working at high temperature (180–300°C). New generations of alloys are required for higher strength components in engine downsizing or start-stop systems which lead to higher loading and higher specific power and stretch current materials to their limits. Recently, transition metals, such as zirconium and vanadium, have been added as alloying elements into an AlSi7Cu3.5Mg0.1 alloy to improve physical, mechanical, thermodynamic properties with the aim of increasing service life of parts. In such alloys, the best mechanical properties are associated with the formation of precipitates through an optimum heat treatment sequence, including: solutionizing, quenching and artificial aging. This study is focused on the modified AlSi7Cu3.5Mg0.1 cast alloy with Mn, Zr and V additions for high temperature application. The characterization of the cast alloy in this study, firstly, helps to evaluate and understand its performance both chemically and structurally according to their physical state: as-cast or as-quenched. Comparison of precipitation kinetics between a binary Al-3.5%wt.Cu alloy and the AlSi7Cu3.5Mg0.1 (Mn, Zr, V) alloy has been characterized by differential scanning calorimetry, TEM observations and micro-hardness testing. The Kissinger analysis was applied to extract activation energies from non-isothermal DSC runs conducted at different stationary heating rates. The study focuses on the impact of the chemical composition such as Si content on the kinetics parameters.INTRODUCTION Pure metal Aluminum shows poor mechanical properties and its malleability is high, that is why alloying elements are added to the mixture before casting to improve physical, mechanical and thermodynamic properties (Javidani, 2015); such as Silicon (Si) for casting properties (castability, cold crack capability, wear resistance, shrinkage behavior), Magnesium (Mg) and Copper (Cu) to generate precipitation hardening systems. Aluminum hypoeutectic alloys (<12% Silicon) with Cu, Mg additions used in the automotive industry for manufacturing mechanical parts (Larouche & Javidani, 2014) are mostly subject, after casting, to precipitation hardening heat treatment (Mohamed & Samuel, 2012) according to specifications and associated standards. The best mechanical properties are associated with the formation of precipitates through an optimum heat treatment sequence, generally including: solutionizing, water quenching and artificial aging (Manente & Timelli, 2011). Hypoeutectic aluminum-copper alloy with amount of Cu around 1 to 4.5wt% is an elementary case for precipitation in heat treatable aluminum alloys. Researchers essentially focused their work on the full precipitation sequence of binary Al-Cu alloy during aging which is presented below."

Jan 1, 2018

Gravity gold recovery has been practiced for thousands of years, making it one of the oldest forms of mineral processing. Gold is 19 times heavier than water although the barren rock is generally only 2.7 times heavier. Any potential gold ore needs to be characterised to assess its amenability to a gravity recoverable gold (GRG) process based on well planned and executed test work. Scale up considerations need to be considered in designing a gravity circuit. The economic impact of a gravity circuit should be justified based on the installed cost and likely benefits. Maximising gravity gold recovery results in a faster cash flow, lower operating cost per ounce and higher overall gold recoveries compared to the several weeks required to recover gold adsorbed onto carbon. The advent of centrifugal concentrators such as the Knelson and Falcon, coupled with intensive leaching of concentrates (ILR), has revolutionised gravity gold circuit designs. Considerations associated with the sizing of the centrifugal machines and the percentage of the circulating load (bleed) that should be processed is discussed in this paper. The trends with gravity circuit layout, engineering, as well as optimum dumping cycles, are important areas which require close consideration. Key aspects of these are presented in this paper. There are a number of circuit configurations to be considered, including the integration of different gravity concentrators. Other gravity process design considerations such as fewer modules, the effect of equipment size and enhancement of process efficiency using preconcentration, together with factors that affect OPEX and CAPEX are addressed. Practical considerations of maintenance, security from theft, minimisation of risk and water balance considerations are discussed using different equipment and circuit configurations. The trend towards using gravity recovery in flotation plants is also reviewed. A number of examples are cited and good design aspects highlighted.

Aug 1, 2010

By Avis W. Effinger

In conjunction with pilot steamflood tests in the Venango sands of Warren and Venango Counties, Pa., the Marx and Langenheim (4)3 calculations were adapted and programed for digital computer solution to predict test performance. The Monte Carlo technique was incorporated in the calculations to provide values of several variables which could not be adequately defined from available information. The computation methods are explained and the FORTRAN IV program listing is presented. Data and results of the prediction calculations for Venango oil sands are also shown.

Jan 1, 1969

By Robert F. Chaiken, Thomas H. Dubaniewicz, Gregory M. Green, Kenneth L. Cashdollar

Optical technologies have progressed rapidly in the past 15 years. One application of laser technology in underground coal mines currently under evaluation is the remote measurement of explosive methane gas. Federal regulations require that atmospheric monitoring systems used in gassy underground mines where permissible equipment is required shall be intrinsically safe. Mine Safety and Health Administration criteria for the evaluation and testing of intrinsically safe apparatus and associated apparatus contain no specific guidance for optoelectronic components such as diode lasers. The National Institute for Occupational Safety and Health is conducting a study to help provide a scientific basis for developing appropriate safety guidelines for optical equipment in under- ground coal mines. Results of experiments involving ignition of methane-air mixtures by collections of small heated particles of Pittsburgh seam coal and black iron oxide are reported. The inert but more strongly absorbing iron oxide targets consistently ignited methane-air mixtures at lower powers than the coal targets. Minimum observed igniting powers for laser energy delivered by 200, 400 and 800 pm core fiber optic cables and directed onto iron oxide targets in methane-air atmospheres were 0.6, 1.1, and 2.2 W, respectively. Comparisons with the results of other researchers are made. A thermal layer theoretical approach to describing the process is included as an appendix.

By L. Mallett

The changing demographics of the mining industry make successful passing of knowledge and skills to the next generation critical. Training methods and technologies are being developed to meet this need. Twenty years ago classroom training was largely a one-way transfer of knowledge through instructor lectures. In contrast, instructors today can use virtual reality technologies to guide trainees as they fully participate in learning experiences. Trainees can interact with the virtual work environment, co-workers, and equipment without being exposed to workplace hazards. The speed of advancement in mine safety, health, and production training shows no sign of slowing in the next 20 years. Researchers at the National Institute for Occupational Safety and Health have studied and participated in the evolution of miner training. A look at training materials they have created in the past and those they are currently developing reveals changes in methods and technologies over time and also key characteristics which have remained constant. Possibilities for the future can he discussed in the framework of an implementation of virtual reality in new miner training sessions. The example computer-based training package teaches new miners to read mine maps and provides opportunity to practice navigation skills in a virtual mine. With this &apos;serious game&apos;, trainees experience the look and feel of moving through an underground coal mine while in the safety of their classroom. During field-testing in 2007, trainees and instructors responded very favourably to this new way of learning. The software was usable by mine trainers with even limited computer expertise and could be installed on the affordable computers they were using for their more traditional slide presentations. The Underground Coal Mine Map Reading Training&apos;s foundation on past successful development strategies and its acceptance by today&apos;s instructors and trainees provide valuable lessons for developing training materials, strategies, and technologies for mining&apos;s future.

Jan 1, 2009

By Andrew Allan

[This report describe the first experiment of the Anthracite Research Laboratory, Bureau of Miners, in attempting to reduce underground-mining costs and conserve anthracite as a natural r-source by introducing now minim methods. The work war, dons in cooperation with one of the large anthracite-producing companies. It applies to productive mining, characterized by comparatively low cost, per ton and high production per man, as differentiated from development mining, which is always necessary before the, productive or retreat phase can begin. The system d scribed in this report is believed to be generally applicable to beds pitching 70° to 90° and, under certain conditions, to beds pitching loss than 70°. After development hate been completed, an openings is made, extending the full width of the 9- to 10-foot coal bad and reaching from the haulageway to the vertical limits of the solid coal. Long drill holes (20 to 50 feet) charged with about one stick of permissible explosive riper foot of length are fused to break the coal. Once broken, the coal is loaded onto a shaker conveyor by gravity and thence into mine: cars. The coal is mined retreating in 15- to 20-foot sections that are broken and loaded onto the conveyor through a specially constructed chute. In the Bureau?s experimental work, the height of sections arse ranged from 35 to 60 fact, depending on the geologic extent of the coal bed.]

Jan 1, 1952

By J. D. Jones

The geographic occurrence of economic mineral deposits presents a variety of problems in modern tailings disposal operations. This paper presents case histories in several sectors of the mineral industry as well as the several stages of operations planning required for new designs, system expansion, reactivation of abandoned systems and upgrading to present environmental standards.

Jan 1, 1978

By Steven G. Jansto

Nearly one third of the globally produced structural flat and long structural products are in the 0.11 to 0.16% carbon range. By definition, numerous steelmakers globally define this approximate carbon range as peritectic in their melting grade family within their organization. The metallurgical consequence is the result of numerous global structural specifications which allow carbon to wide carbon ranges resulting in quality issues. For example, such specifications as ASTM A588 set no minimum carbon and a 0.15 to 0.19%C maximum depending on the specific grade designated within the specification. This peritectic region is specifically challenging in production compared to less than 0.10%C because of solidification issues and a higher propensity for slab or billet cracking during continuous casting. During hot rolling, rejects and/or deviates are increased as well. The relative steelmaking operational cost of production is compared between peritectic and non-peritectic carbon compositions for a given specification.

Aug 17, 2017

By Laurence G. Trudell

Geology and oil-yield data are presented for a 58-square-mile area encompassing the U.S. Department of the Interior oil-shale leasing program tracts in the western Washakie Basin, Sweetwater County, Wyo. Lithology and oil yields of samples from three Bureau of Mines coreholes are evaluated and correlated with Kinney Rim surface sections measured and sampled by the U.S. Geological Survey. Minable sections of oil shale averaging up to 25 gallons of oil per ton crop out on Kinney Rim in the Laney Member of the Green River Formation. Thick oil-shale sections in the Laney Member that average 15 gallons per ton represent 155 million barrels of oil in place per square mile. In the lower part of the Green River Formation the Tipton Shale Member contains a 20-to 40-foot section averaging 15 gallons per ton. Beds of high-volatile C bituminous coal up to 6 feet thick are present in intertongued parts of the lower Green River Formation and upper Wasatch Formation.

Jan 1, 1973

By Stanford O. Grodd

The Sanford Lake district encompasses an area covering 24 square miles in the central Adirondack Mountains of northern New York State. Discovery of the titaniferous magnetite deposits dates back to 1826. Several attempts to exploit the ores for iron prior to 1942 proved uneconomical because of difficulties with the associated titanium, lack of transportation facilities, and the isolated location. Since 1942, the National Lead Company has produced ilmenite concentrates for the titanium pigment industry, and a magnetite by-product used in the steel and refractory industries. Rocks of the area are Precambrian in age and of igneous origin. The area has a history of erosion, deformation, and metamorphism, subsidence, and finally uplift and glaciation. The resulting topography is extremely rough with drainage patterns controlled by a combination of fault patterns and glacial modifications. The district is within the large anorthosite massif making up the central high peak area of the Adirondacks. All of the various lowsilica rock types associated with the massif are found within the boundaries of the district. These consist of both the Marcy and Whiteface types of anorthosite and of gabbroic anorthosite, gabbro, and different grades of titaniferous magnetite ores. All of the rocks contain the same minerals and differ only in their percentages of these consitituents. Gabbro, and ore associated with it, demonstrate flow structure as both have foliation and lineation. Anorthosite and its associated ores are massive and show very little primary structure. Minor pegmatites and diabase dikes provide evidence of remobilization in selected areas and of late intrusion as well. Faulting is prevalent and follows a regional pattern of major faults trending northeastsouthwest and of minor faults at nearly right angles to them. There are four mineralized areas where an economic grade of ore has been found. Three of these have both gabbroic-type ore and anorthositic-type ore. The fourth has only gabbroic ore. Ores are graded according to their TiO, content, and these range from 9.5 per cent to over 30.0 per cent TiO,. Ore bodies of both types are related to gabbro and conform to the configuration of the gabbro bodies within the anorthosite. At least three distinct theories of ore genesis have been expounded by different investigators. Others propose some variations of one or more of these. Although complete agreement probably never will be reached, it is certain that no one process of ore emplacement can explain the complicated picture as seen today. Further understanding of the ores and their origin will require detailed mapping, sampling, and mineralogical studies of the entire district, and then it may never be understood without qualification.

Jan 1, 1968

By T. Gouri Charan

Indian coals, which are of Gondwana origin, contain high amounts of mineral matter, wherein the extraneous material was intimately mixed in the coal matrix during the formation stage, causing a high level of impurity in the run-of-mine (ROM) material. These coals possess difficult to very difficult washability characteristics. Beneficiation of high-ash non-coking coals of India has become the prerequisite for improving the overall economics and efficiency of power generation. The use of dry cleaning systems in India for beneficiation of non-coking coals has gaining renewed interest recently. The benefit of the dry beneficiation process is to exploit the given resources while providing a more reliable and consistent quality fuel with a low operating cost. M/S Allmineral has introduced a technique for the dry beneficiation of coal, which is being tried in India for the treatment of high-ash non-coking coals. The first commercial air jig of 50 t/hr capacity was installed and commissioned to beneficiate high-ash coals of 40 x 5 mm feed with an ash content of 40%; a clean coal product of 33% ash was produced and is being used for a sponge iron plant.

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