Abstract. Within the ROBOMINERS project an innovative technology for the future exploitation of small and difficult to access mineral deposits is being studied. The project has two main objectives. First, the development of a bioinspired reconfigurable robotic miner prototype, able to navigate, explore and mine selectively with a certain degree of autonomy. The robot-miner will be able to work under different conditions, making the exploitation of many mineral deposits economically feasible, while reducing social and environmental impacts associated with conventional mining methods. The second objective is the creation of a vision of a new mining ecosystem, its function, parts, research roadmaps and visions for years 2030 and 2050, including creation of novel ideas from other sectors, particularly robotics. The robotic ecosystem concept will be tested in representative sites across Europe with simulations, showcasing the different mining environments and conditions where it can be applied.
The use of muons for geophysical surveys has been proved successful in numerous projects around the planet. The use of muography in an underground environment has an easy side, when compared to the surface, due to the absence of the background radiation. On the other hand, the muon flux is much lower than what is measured on the surface. Geological and underground conditions should be considered when defining the required exposure time and developing suitable muon telescopes for the observation. A collaboration has been established between the Institute of Earth Sciences (ICT), University of Évora, the Laboratory of Instrumentation and Experimental Particle Physics (LIP), and the Lousal Ciência Viva Center to develop muon detectors and evaluate the muography potential in the Lousal Mine, with the general aim to create the conditions to use muography as a novel method for geophysical surveys in Portugal. The Lousal Mine (Iberian Pyrite Belt) was exploited until 1988 and is presently an excellent European example of environmental rehabilitation and social improvement based on museum, scientific, and educational activities. The observations are done from the Waldemar mine gallery, about 18 m below the surface. The telescopes, developed by LIP, use robust RPC detectors to observe the crossing muons in real time. The aim is to do a first geological survey of the region with muography, mapping already known structures and ore lenses and measuring their densities. The new data will then be used to improve the existing information, but the full process also serves to test the performance of the muon telescope and of the muography analysis tools. A reference 3D model is being created by joining pre-existing geological and geophysical information and new measurements, done, namely, with seismic refraction and Ground Penetrating Radar (GPR). This model provides a reference against which to compare the muography results. Ideally, muography could be used to produce an equivalent 3D map of densities. This reference 3D model constructed with independent methods will be used to cross-check the muography results.
<p>ROBOMINERS is developing an innovative approach for the exploitation of currently non-feasible mineral deposits. The approach entails the use of a robot-miner - a bio-inspired reconfigurable robot with a modular nature - in a new mining setting where the activities are nearly invisible and where mining presents less socio-environmental constraints, thus contributing to a more safe and sustainable supply of mineral raw materials.</p><p>The main aim is to design and develop a robotic prototype that is able to perform mining related tasks in settings including both abandoned, currently flooded mines not accessible anymore for conventional mining techniques; or places that have formerly been explored, but whose exploitation was considered as uneconomic due to the small-size of deposits, or their difficulty to access.</p><p>ROBOMINERS&#8217; innovative approach combines the creation of a new mining ecosystem with novel ideas from other sectors, particularly robotics. At this point, work has been done to understand the best methods for the robotminer&#8217;s development in 1) biological inspiration, 2) perception and localisation tools, 3) behaviour, navigation and control, 4) actuation methods, 5) modularity, 6)autonomy and resilience, and 7) the selective mining ability. All these aspects combined aim to provide the robotminer XXI Century tools for mineral exploration and exploitation of (currently) unfeasible deposits.</p><p>At the same time, for the vision of a new vision of a mining ecosystem, work is involving studies on 1) developing computer models and simulations, 2) data management and visualisation, 3) rock-mechanical and geotechnical characterisation studies, 4) analysing ground/rock support methods, bulk transportation methods, backfilling types and methods, and 5) sketching relevant upstream and downstream mining industry analogues for the ROBOMINERS concept.&#160;&#160;</p><p>After design and development, based on the previously mentioned studies, the robot-miner is set to be tested at targeted areas representatives which include abandoned and/or operating mines, small but high-grade mineral deposits, unexplored/explored non-economic occurrences and ultra depth, not&#160; easily accessible environments. Possible candidates for testing purposes include mines in the regions of Cornwall (UK), mines in the Kupferschiefer Formation (e.g. Poland) or coal mines in Belgium.</p><p>When compared to usual mining methods the ROBOMINERS approach shows: 1) no presence of people in the mine, 2) less mining waste produced, 3) less mining infrastructure, 4) less investment, 5) possibility to explore currently uneconomic resources and 6) new underground small-sized mines, practically &#8220;invisible&#8221;. Altogether, ROBOMINERS can contribute to solve some of the main issues that make mining&#8217;s social license to operate so difficult to get in Europe: land-use, environmental limitations, and socio-economic aspects.</p>
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