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By D. A. Rice

As part of a cooperative effort between the U.S. Bureau of Mines and the Florida Institute of Phosphate Research (FIPR), with input-from the phosphate industry, the conversion of phosphor-gypsum to sulfur is being investigated. The proposed process incorporates a thermal reduction of phosphogypsum to calcium sulfide (CaS) and a hydrometallurgical treatment to convert calcium sulfide to ammonium bisulfide (NH4SH), which is then oxidized using a catalyst to produce elemental sulfur. The paper summarizes the results of continuing laboratory studies using an activated carbon catalyst which was loaded with sulfur through oxidation of ammonium bisulfide solution. The extraction of the sulfur that forms in situ on the catalyst is a key area in the development of the sulfur recovery process. Two approaches for removing the sulfur are being investigated: 1) thermal treatment to volatilize sulfur, and 2) leaching the sulfur using liquid anhydrous ammonia. The research has shown that it is technically feasible to recover over 90% of the sulfur from the carbon by either volatilization or ammonia leaching. Locked-cycle testing has demonstrated that the carbon has the potential to be recycled after ammonia leaching.

Jan 1, 1988

By A. C. Beaulieu

CITY OF EDMONTON Rate of Growth The City of Edmonton has been classed by some economists as being the most progressive City in Canada since the early 50's. The high rise buildings that are changing Edmonton's skyline, the rapidly expanding sewer and water network, and the proposed rapid transit system all indicate the requirements of an ever expanding City. Edmonton, the core of Canada's Energy Empire is the country's seventh largest metropolitan area. Bisected by the 22 mile long park of its magnificent river valley, it sits in the midst of the 50,000 sq miles of riches that have created it. Underneath the City, however, extending down for thousands of feet and encircling it for a radius of scores of miles, lies a fabulous store of petroleum wealth. By the early 1940's, based upon the needs of the farming areas, accompanied by some small exploitation of coal and timber, Edmonton grew to 100,000 people. Then in a short space of 20 years Edmonton shot up to be a city of 450,000. Figure 1 (Slide No. 1) indicates the population growth in the City of Edmonton and the Census Metropolitan Area from 1906 to 1971.

Jan 1, 1997

By Byron N. Cooper

The Revenue Act of 1926 provided for five simple categories of natural resources to have the benefit of depletion allowances. In the 1947 Revenue Act, the number was increased to twenty-five, and in the 1951 Revenue Act to fifty-four. Of this number, fourteen were allowed 5 per cent; nine, 10 per cent; twenty-nine, 15 per cent; one, 23 per cent; and one (oil and gas), 27.5 per cent. The 1951 Revenue Act created a host of difficulties, including application of the "end- use criterion" and determination of the commonly accepted meaning of such terms as limestone, dolomite, chemical- and metallurgical-grade limestone, marble, calcium carbonates, and magnesium carbonates. Dolomite, for example, was listed at 10 per cent depletion allowance, but without definition. In the great amount of litigation growing out of the 1951 Revenue Act and its administration, it became essential to understand the derivation and subsequent usage of these common geologic terms. One thing that became clear was that our definitions changed significantly between the time that the 1951 Revenue Act became law and the time that later cases were tried. Some geologists neglected to learn about first usages of such terms as metallurgical limestone, and about meanings that were applicable when the 1951 Revenue Act was written and passed. Legal meanings in this paper are discussed in the light of certain famous cases that have been tried and settled.

Jan 1, 1966

By Norbert Patzelt, Hans Knecht, Wolfgang Baum

Future ore reserves of major gold producers in North America and elsewhere will consist of refractory gold ores. About 60 % of the current U.S. gold production is mined in Nevada. Several of the large gold operations in this state indicate that 40 to 90 % of their future ore feeds will contain refractory gold. To compound problems, average head grades for refractory U.S. gold ores have fallen from 8 - 9 g/mt to about 4 g/mt by 1991. In Latin America, 52 % of the gold operations will require milling for optimal recovery. Deeper reserves are, like in North America, refractory. Particularly in hard, (semi)refractory sulfide ores, many operations may experience substantial decreases of gold recov­ery. For example, Martins et al. (1991) report that at an Austra­lian mine, sulfide ore treatment led to 4 - 10 % lower gold reco­veries as the work index increased from 8 kWh/t to 14 kWh/t and the grind coarsened. Many refractory ores should actually be classified as semirefractory since a fine sulfide fracturing and liberation would make 80 - 90 % of the gold cyanide leachable. However, conventional comminution is often prohibitively expensive for these ore types.

Jan 1, 1995

By R. H. Busch, S. M. Loscutoff, F. T. Cross, R. E. Filipy, P. J. Mihalko, R. F. Palmer

INTRODUCTION During the last decade, several studies in France (e.g., Perraud et al. , 1970; Chameaud et al., 1974, 1979 and 1980) and the United States (e.g., Stuart et al., 1978; Cross et al., 1978, 1980 and 1981) have demonstrated the systematic production of emphysema, fibrosis and tumors in the lungs of animals exposed to radon daughters alone or to mixtures of uranium-mine air contaminants. The studies in beagle dogs have been particularly interesting because of the uncertain etiology of the disease and the (apparently) diverse results of the studies at the University of Rochester and the Pacific Northwest Laboratory (PNL). In the Rochester studies, reported by Morken (1973), beagle dogs were exposed to "normal" room air dust loads and radon daughters from 200 to 10,000 WLM*, delivered in 1 to 50 days (rate of delivery, about 200 WLM per day of exposure). Histological examination of tissues was conducted at 1, 2 and 3 years after exposure for all exposure levels. No cancers were noted in these dogs that received estimated alveolar doses of 34 to 1700 rad (0.34 to 17 Gy). Pathologic changes were found only in the alveolar and bronchiolar regions of the lung. These changes were small, subtle, variable, and widely separated, involving only a very small fraction of lung tissue. Lesions appeared as focal thickening of alveolar septa, with some metaplasia of alveolar cells and some hyperplasia of bronchial epithelium. In the PNL experiments reported by Cross et al. (1978), beagle dogs were exposed in lifespan studies to mixtures of radon daughters (rate of delivery, about 14 WLM per day of exposure), uranium ore dust and cigarette smoke. One group of dogs was exposed to cigarette smoke alone. Except in control and smoke-only groups, the dogs died within 4' years of the first radon daughter exposure, or were killed when death appeared imminent because of pulmonary insufficiency (characterized by rapid, shallow breathing). Control and smoke-only animals were killed at periods corresponding to highmortality periods in the groups exposed to radon daughters and mixtures of uranium ore dust and cigarette smoke. Emphysema and fibrosis were much more prevalent and severe in the lungs of dogs exposed to the mixtures. These dogs also had adenomatous lesions, which progressed to squamous metaplasia of alveolar epithelium, epidermoid carcinoma and bronchioloalveolar carcinoma. Pathologic changes in the upper airways of these dogs were most prominent in the nasal mucosa, and included a few squamous carcinomas in the nasal cavity. Respiratory tract neoplasia was noted after ~4 years exposure and at cumulative exposures exceeding approximately 12,000 WLM. Apart from differences in associated carrier aerosol (room air dust vs. uranium ore dust) and radon-daughter exposure rate (200 WLM/day, shortduration exposure vs. 14 WLM/day, long-duration exposure), the most obvious difference in the Rochester and PNL studies was the observation time following exposure (3 years maximum vs. >4 years). Although neoplasia may not have been observed in the Rochester animals because of the earlier termination of the experiments, it is surprising that other lesions, such as prominent fibrosis and emphysema, were not reported. A follow-up study (reported here) is currently in progress at PNL to determine the pathogenic role of uranium ore dust alone and, in particular, to clarify the role of the ore dust in the production of the massive pulmonary fibrosis observed in the earlier study. Pulmonary function testing (a recently acquired capability) was included in the follow-up study as an indicator of progressive change in lung tissue. MATERIALS AND METHODS Chronic (4 hr/day, 5 days/week) exposures began when the dogs were about 2 1/2 years old. Two identical exposure chambers provided space for simultaneous, head-only exposure of 24 dogs to ~l5 mg/m3 carnotite uranium ore dust. An aerosol diffusion system was incorporated in each chamber in order to channel fresh aerosol past each dog's head; uranium ore dust was added to the inlet room air with Wright Dust Feed Mechanisms* (WDFM). Uranium ore dust and condensation nuclei concentrations were measured daily; chamber aerosols were monitored occasionally for particle-size distributions as described for previous hamster experiments (Cross et al., 1981). The carnotite ore used in these experiments, from the Mitten mine in Utah, was furnished in 1970 through the Grand Junction, CO Office of the (then) U.S. Atomic Energy Commission (now the Department

Jan 1, 1981

By S. Lin

Fan stall is a notorious phenomenon with axial-flow fans. When multiple fans of this type serve a ventilation system, their mutual impacts are very complicated and not well understood. Results from laboratory experiments indicated that the immediate consequence of a fan working across its stall zone (i.e., the pronounced trough on the fan characteristic curve) is that some branches in the system may suffer abrupt and even drastic changes in air quantity and pressure. The quantity range of the fan that causes the abrupt change is called an unstable operating range. The corresponding quantity range of a branch is called a non-achievable quantity range of the branch because any quantity within this range cannot be achieved without changing some parameters of the ventilation system (e.g., branch resistances). These concepts are introduced based on the test results from tubing networks to bring attention to these important characteristics of ventilation systems.

Jan 1, 1996

By S. E. Knalafalla

The availability of a fluid whose gross behavior sharply changes in a magnetic field without affecting its rheologic characteristics has been recently demonstrated. A colloidal solution of a ferrimagnetic material, such as magnetite, in a liquid that is immiscible with and lighter than water is projected for use in selective separation of particles according to their density spectrum in a continuous fashion. Magnetic levitation forces were created as an antigravity field when the fluid was properly placed in an inhomogeneous magnetic field. Five spherical non¬magnetic objects with densities ranging from 2.70 to 11.35 gram cm ' were made to float or submerge at will in a 0.96-gram cm-3 density fluid placed at vertical magnetic field gradients ranging from 0.2 to I kilooersted cm-1. The magnetic levitation farce in dyne cm-3 was found to vary linearly as a function of the object-fluid density mismatch with a slope equal to one g, the acceleration due to gravity.

Jan 1, 1972

By Y. Luo

Surface subsidence monitoring is the most effective means for investigating the nature of, and developing the techniques for predicting, the surface movement and deformation process. However, because of imperfection in survey equipment and field practices, the surface movement data collected from field survey are not error-free. Also due to lack of proper numerical techniques for computing surface deformation from the measured surface movement data, a relatively large portion of the subsidence data collected could not provide more information other than surface movement. In this paper, the sources and magnitude of errors in the measured surface movements and calculated surface deformation are discussed. Techniques for improving the accuracy of the calculated deformation indices (i.e., slope, strain, and curvature) are developed. The proposed techniques include: (1) proper selection of monument spacing for subsidence monitoring; (2) a data smoothing technique for data pre-processing; and (3) a number of numerical methods and/or procedures for calculating surface deformation indices from the measured surface movement data.

Jan 1, 1992

By V. K. Gupta

A detailed laboratory study was carried out to investigate the effect of the particle size distribution on the grinding rate parameters, Si, for the dry ball milling of quartz and limestone. Contrary to the present belief, the Si values were found to vary strongly with the particle size distribution. In particular it was observed that: (i) the Si values increased with the fineness of the particulate charge - the increase being more pronounced in the case of the coarser sizes, (ii) the next finer size class had the maximum effect on the breakage of the particles of a given size class, while the coarser size classes had only a slight effect, (iii) the effect of two or more size classes was non-additive, and significant higher order inter-size interactions were indicated. The importance of these results in the context of the analysis, design and scale-up of the comminution systems is discussed.

Jan 1, 1987

By John B. Squyres

The purpose of this paper is to describe certain features of the uranium deposits of the South San Juan Basin, and to suggest a mode of origin for the deposits which is consistent with the data. A series of photographs is included at the end of the paper to illustrate the nature of the ore bodies. Since the general geology of the Grants Region is well described in the literature, it will be only briefly reviewed, and the time will be spent instead on the morphology, spatial relations, and geochemistry of the ore deposits. Part of this material is original, but data and ideas have been taken from a variety of sources, including the literature and the personnel of the USGS, the AEC, and many of the operating companies of the South San Juan Basin. I gratefully acknowledge these sources. The accuracy of the data and the conclusions presented here are my own responsibility, however.

Jan 1, 1974

By D. Suarez

The work of engineers responsible for the design and performance of mine facilities is often challenged by economic and practical constraints in the field. Problems have developed in implementing design criteria dictated by persons or agencies not familiar with the dynamic nature of mine engineering. Regional and site-specific conditions frequently require changes to standard designs, or the use of a completely innovative approach, which is not provided for in the regulations. The implementation of engineering design, therefore, usually requires a hard-sell approach to management and regulatory agencies that allows for a happy-medium to all parties concerned. Flexibility on the part of the regulatory agencies is needed to solve operational and environmental problems with sound engineering. Typical hydrologic issues which will be discussed fall in the following general categories: ? Design criteria for sizing water control structures (i.e., culverts, diversion and sedimentation ponds, ditches, etc.) ? Implementation (construction and operation) difficulties ? Regulatory compliance ? Reclamation planning with hydrologic considerations ? Protection of groundwater resources

Jan 1, 1986

By H. L. Bourne

The sand dunes which line the east shore of Lake Michigan resulted after the last, or Wisconsin, glacial period in Michigan. Melt-water streams carried vast quantities of glacial debris to the near shore areas of predecessors to Lake Michigan. As the lake levels receded, these vast quantities of sand were exposed to the prevailing westerly winds, which was the last major process that acted upon the sand and resulted in the formation of the dunes. 1 These dunes are one of the significant natural resources within the state. Michigan dune sands supply about 90% of the foundry sand used in the automotive industry, and 40% of the foundry sand used 2 for all purposes within the United States. The deposits owe their importance to the following factors: grain size distribution, grain shape, mineral composition and location with respect to the foundry sand market. In spite of their economic significance these I deposits are in jeopardy through legislative preemption.

Jan 1, 1975

By Armando M. Lago

This paper reviews the postwar changes that have occurred in the expenditure and financial behavior of mineral corporations, and in particular the relative importance of factors that affect the industry's supply and demand for funds. This quantitative statistical investigation of factors affecting sources and uses of funds of mineral corporations is achieved through the formulation of a simultaneous equation model of sources and uses of funds. After a description of the study sample in Section I, the postwar cyclical and secular financial behavior of mineral corporations is analyzed in detail in Section II. Section III formulates an econometric model of mineral corporate financial behavior which is then estimated and reviewed in Section IV. Section V discusses policy issues regarding depletion allowances, investment tax credits, and industrial organization of the mineral sector. Finally, the optimum financial structure of mining firms is discussed in Section VI, which analyzes the effect of corporate financial structure on the mining corporations' average Cost of capital.

Jan 1, 1969

By Stephen Njoloma, Ivan Hee, Ravi Jain, Mina Shinouda

"INTRODUCTION DC Water’s First Street Tunnel (FST) is comprised of a collaborative effort between DC Water, DC Water’s Project Consultants Organization (PCO) led by Greeley & Hansen and McMillen Jacobs Associates and the design-build team of Skanska, Jay Dee, and Parsons Brinckerhoff. The fast-track project includes elements that were designed by the PCO and released for construction by DC Water prior to Notice to Proceed (NTP) and elements designed by the Design-Builder from 30% to released for construction after NTP. This required effective communication and technical coordination for integrated engineering and efficient construction. The project, constructed in an urban residential neighborhood, included innovative construction methods such as multiple location ground freezing, utilizing a centralized freeze plant, to minimize community impact. The means and methods chosen for cast-in-place shaft linings, precast segmental tunnel lining, microtunneling, sequential excavation method (SEM) adits and near surface elements reflected the immediate and sensitive surroundings, which varied by construction staging area (CSA). Technical aspects of the project, relative to the evolution from pre-bid to construction documents, are discussed along with modified designs to suit means and methods. SCOPE OF WORK In 2012, four major storm events swept through the District of Columbia and hit the Northeast Boundary sewer shed particularly hard with the neighborhood experiencing severe flooding. The extreme nature of the flooding, the damage to private property, and the health risks associated with exposure to sewage led to a multi-agency response and community calls for answers and action. The Mayor assembled a Task Force to evaluate a range of potential actions to address combined sewer flooding including engineering, regulatory, code revision, and management improvements. The Northeast Boundary Neighborhood Protection Project was the outcome of the Mayor’s Task Force; it is a three-step infrastructure initiative designed to offload the undersized sections of the existing collection system that serves the Northeast Boundary drainage area by implementing the McMillan Stormwater Storage Project, First Street Tunnel Project and the future Northeast Boundary Tunnel Project. Until the Northeast Boundary Tunnel Project is completed, the First Street Tunnel Project will add 8 million gallons of combined temporary sewer storage in a new tunnel under First Street NW to relieve undersized sewers that traverse the Bloomingdale neighborhood."

Jan 1, 2016

By E. Kaya

Investigations of fine grinding of bituminous coal in a laboratory-scale pulverizer are described. The results indicate essentially "normal" breakage behavior at relatively coarse sizes (greater than about 20 µm) but show clear evidence for re-agglomeration in the fine size range (less than about 10 µm). A simplified population balance model for simultaneous growth and breakage has been formulated. Breakage rates and breakage distributions are assumed to follow the patterns typically observed in simple grinding systems. It is recognized, however, that solid particles and agglomerates may exhibit different breakage behavior. Agglomeration rates are assumed to be determined by contact probability, i.e. by the relative numbers of interacting particles. Based on comparisons of model simulations and experimental data, it appears that agglomerate re-breakage rates and fragment size distributions are quite different from those for solid particles. The result is that product size passes through a minimum and then increases with time as agglomeration begins to dominate.

Jan 1, 1996

By Willard C. Lacy

Discovery of a mine is a complex affair. No mine is simply found but comes about through the efforts of many. It is difficult to establish "credit" when a mine is found and becomes a viable operation, or "guilt" when a mine is lost, goes bankrupt, or remains undeveloped. The story of the Toquepala and Cuajone developments entails various stages of: (1) discovery and recognition; (2) testing and innovation; (3) political and industrial negotiation and intrigue; and (4) finance, development, and operation. The Toquepala and Cuajone projects introduced innovative drilling techniques, were among the first major porphyry copper deposits to utilize induced polarization (1P)geophysical methods, were among the first deposits to undertake complete feasibility studies on drilled- out ore bodies, and were developed by the first large Western Hemisphere copper mining consortium. Many persons have contributed to the development of these two great deposits. Some of the names have been lost and certain contributions have gone unrecognized. I apologize for these omissions.

Jan 1, 1991

The US Geological Survey (USGS) held a one-day workshop at its Denver, CO facility to inform the public of the status of its National Mapping Program. In addition, the agency wanted to obtain information from topographic map users on what their needs are. The agency wants to know what the topographic map user wants. The USGS faces the challenge of keeping up with the changing needs of the nation. In the last few years, the agency has changed dramatically to meet these needs. For example, the "new" USGS incorporates mineral-information specialists from the former US Bureau of Mines and also uses the expertise of former National Biological Service employees. These areas complement the agency's traditional strengths in mapping, geology and water re- sources. The stated mission of the USGS's National Mapping Division is to "meet the nation's need for basic geospatial data, ensuring access to and advancing the application of these data and other related ears science information f& users worldwide." To accomplish this goal, the USGS publishes topographic maps, including shaded-relief editions of areas of special interest (state maps and national parks); photo image maps; satellite image maps; geologic maps and hydrologic maps. The geologic maps include geologic quadrangle maps, oil and gas investigation maps and charts, and coal investigations maps. The familiar 7.5-minute series topographic maps are the most widely used. The 7.5-minute- (1:24,000-scale-) format mapping was begun in 1935.

Jan 1, 1998

By N. S. P. Kumar

INTRODUCTION Development work at Carr Fork Mine of Anaconda Copper Company in Tooele, Utah commenced in August 1974. A decision to install an underground gyratory crusher for primary crushing run-of-mine ore and waste was made in 1976. Higher throughput rates, larger reduction ratios and greater flexibility in terms of meeting immediate and expanded production needs were the main reasons for selecting the gyratory crusher over the jaw crusher. UNDERGROUND MATERIALS HANDLING Underground crushing and conveying system was designed for a capacity of 16,300 mtpd of ore and waste on a 2-shift, 5-day week basis. Engineering and design of crusher complex was performed by Anaconda engineers at Carr Fork. Figure 1 represents the longitudinal section of mine showing the general materials handling system. Mine area is trackless except for materials and production haulage which is run on rail track on both 1200 and 970 levels. Ore from stopes and waste rock from development headings are handled by 3.8 cu m (5 cu yd) Jarco scoops and dumped into 2.4 m (8 ft) diameter ore and waste passes at the 1200 level. The material gravitates down to the 970 level where it is loaded into 12 cu m (420 cu ft) ASEA mine cars using side loading chutes. The muck train, consisting of 15 to 18 cars and two 27 mt General Electric trolley locomotives, is hauled over a distance of 2,300 m (7,550 ft) to

Jan 1, 1981

By L. G. Austin

Using an instrumented laboratory high-pressure grinding rolls mill, the grinding force, gap dimension, mass flow rate and net mill power were measured for six coals and a crystalline quartz. A technique was developed to estimate the compressive stress-strain curves for compression of the materials in the mill plus the effects of elastic decompression. To reconcile the mill power and grinding pressure results, it was necessary to allow for the energy recovery on decompression. No clear correlation was obtained between the form of the stress-strain curves or the variation of specific mill power factor with the Hardgrove grindability index (HGI), although coals with the lowest and highest HGIs (i.e., 44 and 106) gave results significantly different from the other coals. Feeds below 140 mesh (105 µm) flowed more rapidly than coarser feeds and would not build up high grinding pressures. This indicated shearing and fluidlike properties rather than compression as a locked bed.

Jan 1, 1998

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