illuMINEation --- Bright concepts for a safe and sustainable digital mining future

Livrables

This deliverable specifies data handling during the project and after its end This document particularly ensures that all data is collected in the correct format is organized well and annotated in a good manner The contribution to the EC Raw Materials Information System RMIS will be covered by this document as well

Corporate identity and project webpage

The corporate identity for the project will be finalized and a public project webpage will be setup

Project Flyer and Project Video

The overall project outcome will be mirrored within a project flyer and a project video.

Data assessment for safe zone classification

Report on data availability from existing sensors in a typical highly mechanised operation Evaluation how the data can be used and analysed towards classifying mining areas with respect to a safety status

Requirements of the mining industry

Report outlining the particular requirements of the different use case partners in connection with sensors data transfer modes storage systems data analysis visualization etc

Training activities for mine personnel

Description of a course program dedicated to transfer illuMINEation knowledge to mine personnel.

The Safe Zone Concept - improved safety and environmental performance

Report describes all elements of the Safe Zone Concept: instrument rock bolts with low-cost sensors and data transmission capabilities; emissions and ground water quality monitoring services; tracking and positioning of equipment and personnel.

Publications

A Scalable Distributed Collision Avoidance Scheme for Multi-agent UAV systems

Auteurs: Lindqvist, Bjorn; Sopasakis, Pantelis; Nikolakopoulos, George
Publié dans: Numéro 8, 2021
Éditeur: IEEE
DOI: 10.1109/IROS51168.2021.9636293

Towards Robust and Efficient Plane Detection from 3D Point Cloud

Auteurs: Sharif Mansouri, Sina; Kanellakis, Christoforos; Pourkamali-Anaraki, Farhad; Nikolakopoulos, George
Publié dans: 2021 International Conference on Unmanned Aircraft Systems (ICUAS), 2021
Éditeur: IEEE
DOI: 10.1109/icuas51884.2021.9476824

Evaluation of Lidar-based 3D SLAM algorithms in SubT environment

Auteurs: Anton Koval; Christoforos Kanellakis; George Nikolakopoulos
Publié dans: IFAC-PapersOnLine, 2023
Éditeur: Elsevier
DOI: 10.48550/arxiv.2302.13613

Experimental Evaluation of a Geometry-Aware Aerial Visual Inspection Framework in a Constrained Environment

Auteurs: Kottayam Viswanathan, Vignesh; Gajanan Satpute, Sumeet; Lindqvist, Björn; Kanellakis, Christoforos; Nikolakopoulos, George
Publié dans: 2022
Éditeur: IEEE
DOI: 10.1109/med54222.2022.9837166

Exploration-RRT: A multi-objective Path Planning and Exploration Framework for Unknown and Unstructured Environments

Auteurs: Lindqvist, Björn; Agha-mohammadi, Ali-akbar; Nikolakopoulos, George
Publié dans: International Conference on Intelligent Robots and Systems (IROS 2021), September 27-October 1, 2021, 2021
Éditeur: arxiv
DOI: 10.1109/iros51168.2021.9636243

A Resilient to Faults Auto-Encoder Enabled Kalman based Multi-Sensorial Fusion

Auteurs: Mukherjee, Moumita; Banerjee, Avijit; Nikolakopoulos, George
Publié dans: 2022
Éditeur: IEEE
DOI: 10.1109/med54222.2022.9837222

Geometry Aware NMPC Scheme for Morphing Quadrotor Navigation in Restricted Entrances

Auteurs: Papadimitriou, Andreas; Mansouri, Sina Sharif; Kanellakis, Christoforos; Nikolakopoulos, George
Publié dans: CoRR, Numéro abs/2101.02965, 2021
Éditeur: arXiv
DOI: 10.48550/arxiv.2101.02965

Artificial Intelligence Algorithm for Tailing Storage Facility Soil Classification Based on CPT Measurements

Auteurs: Duda-Mróz Natalia; Anufriiev Sergii; Koperska Wioletta; Stefaniak Paweł; Stefanek Paweł
Publié dans: Intelligent Minning: Innovation, Vision and Value (APCOM), 2023
Éditeur: Society for Mining, Metallurgy & Exploration
DOI: 10.5281/zenodo.8123734

Traversability Aware graph-based Subterranean Exploration with Unmanned Aerial Vehicles*

Auteurs: Patel, Akash; Kanellakis, Christoforos; Agha-Mohammadi, Ali-Akbar; Nikolakopoulos, George
Publié dans: Crossref, Numéro 1, 2023
Éditeur: IFAC-PapersOnLine
DOI: 10.1016/j.ifacol.2023.10.072

Monocular Vision-based Obstacle Avoidance Scheme for Micro Aerial Vehicle Navigation

Auteurs: Karlsson, Samuel; Kanellakis, Christoforos; Sharif Mansouri, Sina; Nikolakopoulos, George
Publié dans: 2021 International Conference on Unmanned Aircraft Systems (ICUAS), 2021
Éditeur: IEEE
DOI: 10.1109/icuas51884.2021.9476793

Switching Model Predictive Control for Online Structural Reformations of a Foldable Quadrotor

Auteurs: Papadimitriou, Andreas; Nikolakopoulos, George
Publié dans: IECON 2020 The 46th Annual Conference of the IEEE Industrial Electronics Society, 2020
Éditeur: IEEE
DOI: 10.1109/iecon43393.2020.9254691

Multidimensional Data Analysis for Drilling Process in Underground Mines

Auteurs: Stachowiak Maria; Koperska Wioletta; Skoczylas Artur; Anufriiev Sergii; Stefaniak Paweł; Stefanek Paweł
Publié dans: Intelligent Minning: Innovation, Vision and Value (APCOM), 2023
Éditeur: Society for Mining, Metallurgy & Exploration
DOI: 10.5281/zenodo.8123768

Aerial Thermal Image based Convolutional Neural Networks for Human Detection in SubT Environments

Auteurs: Koval, Anton; Sharif Mansouri, Sina; Kanellakis, Christoforos; Nikolakopoulos, George
Publié dans: Numéro 7, 2021
Éditeur: IEEE
DOI: 10.1109/ICUAS51884.2021.9476853

Decision Support System for Monitoring and Stability Assessment of The Tailings Storage Facility

Auteurs: Koperska Wioletta; Stachowiak Maria; Anufriiev Sergii; Stefaniak Paweł; Stefanek Paweł
Publié dans: Intelligent Minning: Innovation, Vision and Value (APCOM), 2023
Éditeur: Society for Mining, Metallurgy & Exploration
DOI: 10.5281/zenodo.8123637

3DEG: Data-Driven Descriptor Extraction for Global re-localization in subterranean environments

Auteurs: Nikolaos Stathoulopoulos; Anton Koval; George Nikolakopoulos
Publié dans: 2022
Éditeur: arXiv
DOI: 10.48550/arxiv.2210.07285

First-look enabled Autonomous Aerial Visual Inspection of Geometrically Fractured Objects in Constrained Environment

Auteurs: Kottayam Viswanathan, Vignesh; Gajanan Satpute. Sumeet; Lindqvist, Bjorn; Nikolakopoulos, George
Publié dans: Numéro 5, 2022
Éditeur: IEEE
DOI: 10.5281/zenodo.7513674

Design and Model Predictive Control of a Mars Coaxial Quadrotor

Auteurs: Patel, Akash; Banerjee, Avijit; Lindqvist, Björn; Kanellakis, Christoforos; Nikolakopoulos, George
Publié dans: 2022
Éditeur: IEEE
DOI: 10.1109/aero53065.2022.9843799

Fast Planner for MAV Navigation in Unknown Environments Based on Adaptive Search of Safe Look-Ahead Poses

Auteurs: Patel, Akash; Lindqvist, Björn; Kanellakis, Christoforos; Nikolakopoulos, George
Publié dans: 2022
Éditeur: IEEE
DOI: 10.1109/med54222.2022.9837293

An Auto-Encoder enabled Fault Detection and Isolation Scheme for enabling a Multi-Sensorial Distributed Pose Estimation

Auteurs: Mukherjee, Moumita; Banerjee, Avijit; Nikolakopoulos, George
Publié dans: 2022 IEEE 31st International Symposium on Industrial Electronics (ISIE), 2022
Éditeur: IEEE
DOI: 10.1109/isie51582.2022.9831458

Multi-Robot Task Allocation Framework with Integrated Risk-Aware 3D Path Planning

Auteurs: Bai, Yifan; Lindqvist, Björn; Karlsson, Samuel; Kanellakis, Christoforos; Nikolakopoulos, George
Publié dans: 2022
Éditeur: IEEE
DOI: 10.1109/med54222.2022.9837240

REF: A Rapid Exploration Framework for Deploying Autonomous MAVs in Unknown Environments

Auteurs: Patel, Akash; Lindqvist, Bjorn; Kanellakis, Christoforos; Agha-Mohammadi, Ali-Akbar; Nikolakopoulos, George
Publié dans: Journal of Intelligent & Robotic Systems, 2023, ISSN 0921-0296
Éditeur: Kluwer Academic Publishers
DOI: 10.1007/s10846-023-01836-z

Rock mass structural recognition from drill monitoring technology in underground mining using discontinuity index and machine learning techniques

Auteurs: Alberto Fernández; José A. Sanchidrián; Pablo Segarra; Santiago Gómez; Enming Li; Rafael Navarro
Publié dans: International Journal of Mining Science and Technology, 2023, ISSN 2095-2686
Éditeur: Elsevier
DOI: 10.1016/j.ijmst.2023.02.004

Multimodality robotic systems: Integrated combined legged-aerial mobility for subterranean search-and-rescue

Auteurs: Lindqvist, Björn; Karlsson, Samuel; Koval, Anton; Tevetzidis, ilias; Haluška, Jakub; Kanellakis, Christoforos; Agha-mohammadi, Ali-akbar; Nikolakopoulos, George
Publié dans: Robotics and Autonomous Systems, 2022, ISSN 0921-8890
Éditeur: Elsevier BV
DOI: 10.1016/j.robot.2022.104134

The Tailings Storage Facility (TSF) stability monitoring system using advanced big data analytics on the example of the Zelazny Most Facility

Auteurs: Wioletta Koperska; Maria Stachowiak; Natalia Duda-Mróz; Paweł Stefaniak; Bartosz Jachnik; Bartłomiej Bursa; Paweł Stefanek
Publié dans: Archives of Civil Engineering, 2022, ISSN 1230-2945
Éditeur: Wydawnictwo Naukowe P W N SA
DOI: 10.5281/zenodo.6807859

FLIE: First-Look Enabled Inspect-Explore Autonomy Toward Visual Inspection of Unknown Distributed and Discontinuous Structures

Auteurs: Vignesh Kottayam Viswanathan; Sumeet Gajanan Satpute; George Nikolakopoulos
Publié dans: Crossref, Numéro 1, 2023, ISSN 2169-3536
Éditeur: Institute of Electrical and Electronics Engineers Inc.
DOI: 10.1109/access.2023.3257646

Multi-Stage NMPC for a MAV based Collision Free Navigation Under Varying Communication Delays

Auteurs: Andreas Papadimitriou; Hedyeh Jafari; Sina Sharif Mansouri; George Nikolakopoulos
Publié dans: Crossref, Numéro 3, 2023, ISSN 0921-0296
Éditeur: Kluwer Academic Publishers
DOI: 10.1007/s10846-023-01818-1

External force estimation and disturbance rejection for Micro Aerial Vehicles

Auteurs: Papadimitriou, Andreas; Jafari, Hedyeh; Sharif Mansouri, Sina; Nikolakopoulos, George
Publié dans: Expert Systems with Applications, 2022, ISSN 0957-4174
Éditeur: Pergamon Press Ltd.
DOI: 10.1016/j.eswa.2022.116883

Experimental evaluation of autonomous map-based Spot navigation in confined environments

Auteurs: Anton Koval; Samuel Karlsson; George Nikolakopoulos
Publié dans: Biomimetic Intelligence and Robotics, 2022, ISSN 2667-3797
Éditeur: ELSEVIER
DOI: 10.1016/j.birob.2022.100035

Roof Fall Hazard Monitoring and Evaluation—State-of-the-Art Review

Auteurs: Krzysztof Fuławka; Lech Stolecki; Marcin Szumny; Witold Pytel; Izabela Jaśkiewicz-Proć; Michel Jakić; Michael Nöger; Philipp Hartlieb
Publié dans: Energies, 2022, ISSN 1996-1073
Éditeur: Multidisciplinary Digital Publishing Institute (MDPI)
DOI: 10.3390/en15218312

Predicting rock fragmentation based on drill monitoring: A case study from Malmberget mine, Sweden

Auteurs: M. Danielsson; E. Söderström; H. Schunnesson; A. Gustafson; H. Fredriksson; D. Johansson; S. Manzoor
Publié dans: Crossref, Numéro 6, 2022, ISSN 2225-6253
Éditeur: South African Institute of Mining and Metallurgy
DOI: 10.17159/2411-9717/1587/2022

On the Unification of Legged and Aerial Robots for Planetary Exploration Missions

Auteurs: Haluska, Jakub; Koval, Anton; Nikolakopoulos, George
Publié dans: Applied Sciences, Numéro 7, 2022, ISSN 2076-3417
Éditeur: MDPI
DOI: 10.3390/app12083983

Application of percentile color intensities of borehole images for automatic fluorite grade assessment

Auteurs: Li, Enming; Segarra, Pablo; Sanchidrián, José Ángel; Gómez, Santiago; Fernandez, Alberto; Navarro, Rafael; Bernardini, Maurizio
Publié dans: Ore Geology Reviews, 2023, ISSN 0169-1368
Éditeur: Elsevier BV
DOI: 10.1016/j.oregeorev.2023.105790

D*+: A Risk Aware Platform Agnostic Heterogeneous Path Planner

Auteurs: Samuel Karlsson; Anton Koval; Christoforos Kanellakis; George Nikolakopoulos
Publié dans: Crossref, Numéro 7, 2023, ISSN 0957-4174
Éditeur: Pergamon Press Ltd.
DOI: 10.2139/ssrn.4137561

Towards Autonomous Aerial Scouting Using Multi-Rotors in Subterranean Tunnel Navigation

Auteurs: C. Kanellakis, P. S. Karvelis, S. S. Mansouri, A.-A. Agha-Mohammadi and G. Nikolakopoulos
Publié dans: IEEE Access, Numéro 9, 2021, ISSN 2169-3536
Éditeur: Institute of Electrical and Electronics Engineers Inc.
DOI: 10.1109/access.2021.3076578

Prototype of Instrumented Rock Bolt for Continuous Monitoring of Roof Fall Hazard in Deep Underground Mines.

Auteurs: Krzysztof Fuławka; Witold Pytel; Marcin Szumny; Piotr Mertuszka; Bogumila Palac-Walko; Philipp Hartlieb; Michel Jakić; Michael Nöger
Publié dans: Sensors; Volume 23; Numéro 1; Pages: 154, Numéro 4, 2022, ISSN 1424-8220
Éditeur: Multidisciplinary Digital Publishing Institute (MDPI)
DOI: 10.3390/s23010154

Towards Energy Efficient Autonomous Exploration of Mars Lava Tube with a Martian Coaxial Quadrotor

Auteurs: Patel, Akash; Karlsson, Samuel; Lindqvist, Bjorn; Kanellakis, Christoforos; Agha-Mohammadi, Ali-Akbar; Nikolakopoulos, George
Publié dans: Advances in Space Research, 2022, ISSN 0273-1177
Éditeur: Pergamon Press Ltd.
DOI: 10.1016/j.asr.2022.11.014

A Decentralized Sensor Fusion Scheme for Multi Sensorial Fault Resilient Pose Estimation

Auteurs: Mukherjee, Moumita; Banerjee, Avijit; Papadimitriou, Andreas; Sharif Mansouri, Sina; Nikolakopoulos, George
Publié dans: Sensors, 2021, ISSN 1424-8220
Éditeur: Multidisciplinary Digital Publishing Institute (MDPI)
DOI: 10.3390/s21248259

Dataset collection from a SubT environment

Auteurs: Koval, Anton; Karlsson, Samuel; Sharif Mansouri, Sina; Kanellakis, Christoforos; Tevetzidis, ilias; Haluska, Jakub; Agha-mohammadi, Ali-akbar; Nikolakopoulos, George
Publié dans: Robotics and Autonomous Systems, 2022, ISSN 0921-8890
Éditeur: Elsevier BV
DOI: 10.1016/j.robot.2022.104168

Application of Ultra-Wide Band Sensors in Mining.

Auteurs: Katja Wisiak; Michel Jakić; Philipp Hartlieb
Publié dans: Sensors, 2022, ISSN 1424-8220
Éditeur: Multidisciplinary Digital Publishing Institute (MDPI)
DOI: 10.3390/s23010300

Reactive Navigation of an Unmanned Aerial Vehicle With Perception-Based Obstacle Avoidance Constraints

Auteurs: Björn Lindqvist; Sina Sharif Mansouri; Jakub Haluska; George Nikolakopoulos
Publié dans: IEEE Transactions on Control Systems Technology, Numéro 19, 2021, ISSN 1063-6536
Éditeur: Institute of Electrical and Electronics Engineers
DOI: 10.48550/arxiv.2207.01406

Range-aided ego-centric collaborative pose estimation for multiple robots

Auteurs: Papadimitriou, Andreas; Sharif Mansouri, Sina; Nikolakopoulos, George
Publié dans: Expert Systems with Applications, 2022, ISSN 0957-4174
Éditeur: Pergamon Press Ltd.
DOI: 10.1016/j.eswa.2022.117052

Recognition of LHD Position and Maneuvers in Underground Mining Excavations—Identification and Parametrization of Turns

Auteurs: Justyna Witulska; Paweł Stefaniak; Bartosz Jachnik; Artur Skoczylas; Paweł Śliwiński; Marek Dudzik
Publié dans: Applied Sciences, Numéro Volume 11, 2021, ISSN 2076-3417
Éditeur: MDPI
DOI: 10.3390/app11136075

Ensuring Robot-Human Safety for the BD Spot Using Active Visual Tracking and NMPC With Velocity Obstacles

Auteurs: Karlsson, Samuel; Lindqvist, Björn; Nikolakopulos, George
Publié dans: IEEE Access, 2022, ISSN 2169-3536
Éditeur: Institute of Electrical and Electronics Engineers Inc.
DOI: 10.1109/access.2022.3205611

Towards Managing Uncertain Geo-Information for Drilling Disasters Using Event Tracking Sensitivity Analysis

Auteurs: Tavakoli, Siamak; Poslad, Stefan; Fruhwirth, Rudolf; Winter, Martin; Zeiner, Herwig
Publié dans: Sensors, Numéro 5, 2023, ISSN 1424-8220
Éditeur: Multidisciplinary Digital Publishing Institute (MDPI)
DOI: 10.3390/s23094292

Pangea: An MLOps Tool for Automatically Generating Infrastructure and Deploying Analytic Pipelines in Edge, Fog and Cloud Layers

Auteurs: Minon, Raul; Diaz-de-Arcaya, Josu; Torre-Bastida, Ana I.; Hartlieb, Philipp
Publié dans: Sensors, 2022, ISSN 1424-8220
Éditeur: Multidisciplinary Digital Publishing Institute (MDPI)
DOI: 10.3390/s22124425

Requirements of the mining industry

Auteurs: Paterek, Marcin; Pikula, Maciej; Szumny, Marcin; Haugen, Sunniva; Bondarchuk, Alexander; Nystrom, Anders; Landstrom, Anna; Bursa, Bartolomej; Swiderski, Bartosz; Navarro, Rafael; Moser, Anja; Frömmer, Thomas; Loidl, Gernot; Waidacher, Verena; Hartlieb, Philipp
Publié dans: 2022
Éditeur: Zenodo
DOI: 10.5281/zenodo.7179844

COMPRA: A COMPact Reactive Autonomy framework for subterranean MAV based search-and-rescue operations

Auteurs: Lindqvist, Björn; Kanellakis, Christoforos; Mansouri, Sina Sharif; Agha-mohammadi, Ali-akbar; Nikolakopoulos, George
Publié dans: CoRR, 2021
Éditeur: arXiv
DOI: 10.48550/arxiv.2108.13105

The safe zone concept

Auteurs: Hartlieb, Philipp; Varelija, Michel; Nöger, Varelija; Paterek, Marcin; Kobylanska, Malwina; Bursa, Bartlomiej; Rody, Morgan; Mosberger, Rafael
Publié dans: Project Deliverable, 2023
Éditeur: Zenodo
DOI: 10.5281/zenodo.10638954

Training activities for mine personnel

Auteurs: Hartlieb, Philipp; Varelija, Michel; Fernandez, Alberto; Stefaniak, Pawel; Bursa, Bartolomiej
Publié dans: Project Deliverable, 2023
Éditeur: Zenodo
DOI: 10.5281/zenodo.10639114

illuMINEation - Data Management Plan

Auteurs: Rehatschek, Karin; Loidl, Gernot; Hartlieb, Philipp; Waidacher Verena; Rios, Erkuden; Iturbe, Eider; Zeiner, Herwig; Garcia, Maite; Guilhot, Denis; Plociennik, Marcin; Jonsson, Daniel P.
Publié dans: 2021
Éditeur: Zenodo
DOI: 10.5281/zenodo.7070728

Data assessment for safe zone classification

Auteurs: Nöger, Michael; Hartlieb, Philipp; Fimbinger, Eric; Mansouri, Sina Sharif; Paterek, Marcin; Bursa, Bartolomiej; Sörensen, Josephine
Publié dans: 2021
Éditeur: Zenodo
DOI: 10.5281/zenodo.7070699

Wykorzystanie niskokosztowych sensorów oraz ogólnodostępnych platform programistycznych na potrzeby monitoringu wód podziemnych oraz jakości atmosfery. (The use of low-cost sensors and generally available programming platforms for the monitoring of groundwater and the quality of the atmosphere)

Auteurs: Paterek, Marcin; Kobylańska, Malwina
Publié dans: CUPRUM – Czasopismo Naukowo-Techniczne Górnictwa Rud, 2022, ISSN 0137-2815
Éditeur: Cuprum
DOI: 10.5281/zenodo.7962002

An engineering model for the prediction of full-field blast vibrations and rock mass damage

Auteurs: Santiago Gómez Mateos
Publié dans: Crossref, Numéro 2, 2024
Éditeur: E.T.S.I. de Minas y Energía (UPM)
DOI: 10.20868/upm.thesis.80466

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