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Publications

2019

3D UNDERWATER MINE MODELLING in the ¡vAMOS! PROJECT

Authors
Bleier, M; Almeida, C; Ferreira, A; Pereira, R; Matias, B; Almeida, J; Pidgeon, J; Van Der Lucht, J; Schilling, K; Martins, A; Silva, E; Nüchter, A;

Publication
ISPRS Annals of the Photogrammetry, Remote Sensing and Spatial Information Sciences

Abstract
The project Viable Alternative Mine Operating System (¡VAMOS!) develops a novel underwater mining technique for extracting inland mineral deposits in flooded open-cut mines. From a floating launch and recovery vessel a remotely-operated underwater mining vehicle with a roadheader cutting machine is deployed. The cut material is transported to the surface via a flexible riser hose. Since there is no direct intervisibility between the operator and the mining machine, the data of the sensor systems can only be perceived via a computer interface. Therefore, part of the efforts in the project focus on enhancing the situational awareness of the operator by providing a 3D model of the mine combined with representations of the mining equipment and sensor data. We present a method how a positioning and navigation system, perception system and mapping system can be used to create a replica of the physical system and mine environment in Virtual Reality (VR) in order to assist remote control. This approach is beneficial because it allows visualizing different sensor information and data in a consistent interface, and enables showing the complete context of the mining site even if only part of the mine is currently observed by surveying equipment. We demonstrate how the system is used during tele-operation and show results achieved during the field trials of the complete system in Silvermines, Ireland. © 2019 Copernicus GmbH. All righhts reserved.

2018

EVA a hybrid ROV/AUV for underwater mining operations support

Authors
Martins, A; Almeida, J; Almeida, C; Matias, B; Kapusniak, S; Silva, E;

Publication
2018 OCEANS - MTS/IEEE Kobe Techno-Oceans, OCEANS - Kobe 2018

Abstract
This paper presents EVA, a new concept for an hybrid ROV/AUV designed to support the underwater operation of an underwater mining machine, developed in the context of the European H2020 R&D ¡VAMOS! Project. This project is briefly presented, introducing the main components and concepts, providing the reader with clear picture of the operational scenario and allowing to understand better the functionality requirements of the support robotic vehicle developed. The design of EVA is detailed presented, addressing the mechanical design, hardware architecture, sensor system and navigation and control. The results of EVA both in water test tank, in the !VAMOS! Field trials in Lee Moor, UK, and in an harbor scenario are presented and discussed © 2018 IEEE

2018

?VAMOS! Underwater Mining Machine Navigation System

Authors
Almeida, J; Ferreira, A; Matias, B; Lomba, C; Martins, A; Silva, E;

Publication
2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

Abstract

2017

Underwater navigation sensors calibration in inland water spaces

Authors
Matias, B; Almeida, J; Ferreira, A; Martins, A; Ferreira, H; Silva, E;

Publication
OCEANS 2017 - Aberdeen

Abstract

2016

Air and underwater survey of water enclosed spaces for VAMOS! Project

Authors
Almeida, J; Ferreira, A; Matias, B; Dias, A; Martins, A; Silva, F; Oliveira, J; Sousa, P; Moreira, M; Miranda, T; Almeida, C; Silva, E;

Publication
OCEANS 2016 MTS/IEEE Monterey, OCE 2016

Abstract
This paper addresses a three-dimensional (3D) reconstruction of a flooded open pit mine with an autonomous surface vehicle (ASV) and unmanned aerial vehicle (UAV). The ROAZ USV and the Otus UAV were used to provide the underwater bathymetric map and aerial 3D reconstruction based from image data. This work was performed within the context of the European research project VAMOS with the objective of developing robotic tools for efficient underwater mining © 2016 IEEE.