Path Planner for Autonomous Exploration of Underground Mines by Aerial Vehicles

This paper presents a path planner solution that makes it possible to autonomously explore underground mines with aerial robots (typically multicopters). In these environments the operations may be limited by many factors like the lack of external navigation signals, the narrow passages and the absence of radio communications. The designed path planner is defined as a simple and highly computationally efficient algorithm that, only relying on a laser imaging detection and ranging (LIDAR) sensor with Simultaneous localization and mapping (SLAM) capability, permits the exploration of a set of single-level mining tunnels. It performs dynamic planning based on exploration vectors, a novel variant of the open sector method with reinforced filtering. The algorithm incorporates global awareness and obstacle avoidance modules. The first one prevents the possibility of getting trapped in a loop, whereas the second one facilitates the navigation along narrow tunnels. The performance of the proposed solution has been tested in different study cases with a Hardware-in-the-loop (HIL) simulator developed for this purpose. In all situations the path planner logic performed as expected and the used routing was optimal. Furthermore, the path efficiency, measured in terms of traveled distance and used time, was high when compared with an ideal reference case. The result is a very fast, real-time, and static memory capable algorithm, which implemented on the proposed architecture presents a feasible solution for the autonomous exploration of underground mines.

Constraints on the Formation of Granite-Related Indium Deposits

The use of indium in modern technologies has grown in recent decades, creating a growth in indium demand; thus, there is a need to constrain the spatial and temporal distribution of indium-bearing, granite-related deposits. Toward this end, a conceptual model and exploration vectors for the formation of granite-related indium deposits have been developed. The magmatic-hydrothermal system is modeled by consideration of crystal-melt and vapor-melt equilibria. The model calculates the efficiency of removal of indium from a melt into a volatile phase, which may serve as a component of an ore-forming fluid. The results of the model suggest that as the proportion of ferromagnesian minerals increases in the associated granites, the probability of indium ore formation decreases. Further, for a given modal proportion of ferromagnesian minerals, as the modal proportion of amphibole increases, the probability of indium ore formation decreases. Lastly, for a given modal proportion of biotite, as the magnesium content of the biotite increases (as would result from increasing oxidation of the magmatic system), the probability of indium ore formation decreases. Granites with the highest probability of being associated with indium ore formation will typically be part of A- or S-type igneous systems and will likely be highly fractionated (e.g., A-type topaz granites). I-type granites will generally have a lower potential of being associated with indium-bearing deposits. However, some I-type granites may be associated with indium-bearing deposits if the deposits contain granites (sensu stricto) or other related rocks (e.g., alaskites) that lack amphibole or other ferromagnesian phases.

Perspective targeting CuAuMo porphyries of Romanian Carpathians: blind porphyry mineralization and its variable distal expression as vein and skarns

Romania has a genuine accumulation of “blind” porphyry CuAuMo systems associated with Cu skarns or AuAg (PbZn) epithermal vein sets. Many such hidden structures were discovered inadvertently during state exploration based on local tradition that Romanian Carpathians are rich in vein and skarn ore types. Notable dichotomy between porphyries associated with peripheral skarns versus epithermal ores is expressed by age (Mesozoic versus Tertiary), precious metal content, alteration types and zoning, shape/size and extension of ore bodies. Preliminary conclusions on metallic/alteration assemblages around porphyries in addition to geophysical information about inferred deep-seated Alpine plutonism promote potential exploration vectors for what will be an increasingly important deposit type in the future.