Although multiview platforms have enhanced work efficiency in mining teleoperation systems, they also induce “cognitive tunneling” and depth-detection issues for operators. These issues inadvertently focus their attention on a restricted central view. Fully immersive virtual reality (VR) has recently attracted the attention of specialists in the mining industry to address these issues. Nevertheless, developing VR teleoperation systems remains a formidable challenge, particularly in achieving a realistic 3D model of the environment. This study investigates the existing gap in fully immersive teleoperation systems within the mining industry, aiming to identify the most optimal methods for their development and ensure operator’s safety. To achieve this purpose, a literature search is employed to identify and extract information from the most relevant sources. The most advanced teleoperation systems are examined by focusing on their visualization types. Then, various 3D reconstruction techniques applicable to mining VR teleoperation are investigated, and their data acquisition methods, sensor technologies, and algorithms are analyzed. Ultimately, the study discusses challenges associated with 3D reconstruction techniques for mining teleoperation. The findings demonstrated that the real-time 3D reconstruction of underground mining environments primarily involves depth-based techniques. In contrast, point cloud generation techniques can mostly be employed for 3D reconstruction in open-pit mining operations.

Identifying the as-drilled location of blastholes is crucial for achieving optimal blasting results. This research proposes a novel integrated methodology to control drilling accuracy in open-pit mines. This approach is developed by combining aerial drone images with machine learning techniques. The study investigates the viability of photogrammetry combined with machine learning techniques, particularly Support Vector Machine (SVM) and Convolutional Neural Networks (CNN), for automatically detecting blastholes in photogrammetry representations of blast patterns. To verify the hypothesis that machine learning can detect blastholes in images as effectively as humans, various datasets (drone images) were obtained from different mine sites in Nevada, USA. The images were processed to create photogrammetry mapping of the drill patterns. In this process, thousands of patches were extracted and augmented from the photogrammetry representations. Those patches were then used to train and test different CNN architectures optimized to locate blastholes. After reaching an acceptable level of accuracy during the training process, the model was tested using a piece of completely unknown data (testing dataset). The high recall, precision, and percentage of detected blastholes prove that the combination of SVM, CNN, and photogrammetry (PHG) is an effective methodology for detecting blastholes on photogrammetry maps.

The implementation of autonomous haulage trucks in open-pit mines represents a progressive advancement in the mining industry, but it poses potential safety risks that require thorough assessment. This study proposes an integrated model that combines discrete-event simulation (DES) with a risk matrix to assess collisions associated with three different operational scenarios, including non-autonomous, hybrid, and fully autonomous truck operations. To achieve these objectives, a comprehensive dataset was collected and analyzed using statistical models and natural language processing (NLP) techniques. Multiple scenarios were then developed and simulated to compare the risks of collision and evaluate the impact of eliminating human intervention in hauling operations. A risk matrix was designed to assess the collision likelihood and risk severity of collisions in each scenario, emphasizing the impact on both human safety and project operations. The results revealed an inverse relationship between the number of autonomous trucks and the frequency of collisions, underscoring the potential safety advantages of fully autonomous operations. The collision probabilities show an improvement of approximately 91.7% and 90.7% in the third scenario compared to the first and second scenarios, respectively. Furthermore, high-risk areas were identified at intersections with high traffic. These findings offer valuable insights into enhancing safety protocols and integrating advanced monitoring technologies in open-pit mining operations, particularly those utilizing autonomous haulage truck fleets.

Human factors play a critical role in underground mine evacuations, significantly impacting performance during emergencies. Traditional mine evacuation strategies rely on predetermined routes and static signs, but these methods do not account for the dynamic and unpredictable nature of real emergencies or the diverse behaviors of individuals. This research addresses these limitations by using agent-based simulations to explore evacuation behavior and performance in underground mines. The study involved three key steps. First, agent-based simulations were deployed to model both individual and group behaviors during emergencies. Second, evacuation performance was compared across three scenarios: miners following traditional passive signage, those making decisions in chaotic conditions, and miners equipped with smart evacuation devices. Finally, evacuation times were quantified to assess the effectiveness of each approach. The results revealed that miners using smart devices improved evacuation efficiency by 35% compared with those relying on passive signage and by 37% compared with chaotic decision-making scenarios. The median evacuation time was reduced from 10.8 min with passive signage to 7 min when using smart devices, taking varying stamina levels into account. These findings underscore the importance of integrating intelligent systems that account for pre-evacuation and wayfinding behaviors, offering new insights and setting a higher standard for emergency protocols in underground mining.

While multi-view visualization systems are widely used for mining vehicle teleoperation, they often impose high cognitive load and restrict operator attention. To explore a more efficient alternative, this study evaluated a merged-view interface that integrates multiple camera perspectives into a single coherent display. In a controlled experiment, 35 participants navigated a teleoperated robot along a 50 m lab-scale path representative of an underground mine under both multi-view and merged-view conditions. Task performance and eye-tracking data—including completion time, path adherence, and speed-limit violations—were collected for comparison. The merged-view system enabled 6% faster completion times, 21% higher path adherence, and 28% fewer speed-limit violations. Eye-tracking metrics indicated more efficient and distributed attention: blink rate decreased by 29%, fixation duration shortened by 18%, saccade amplitude increased by 11%, and normalized gaze-transition entropy rose by 14%, reflecting broader and more adaptive scanning. NASA-TLX scores further showed a 27% reduction in perceived workload. Regression-based sensitivity analysis revealed that gaze entropy was the strongest predictor of efficiency in the multi-view condition, while fixation duration dominated under merged-view visualization. For path adherence, blink rate was most influential in the multi-view setup, whereas fixation duration became key in merged-view operation. Overall, the results indicated that merged-view visualization improved visual attention distribution and reduced cognitive tunneling indicators in a controlled laboratory teleoperation task, offering early-stage, interface-level insights motivated by mining-relevant teleoperation challenges.

Understanding rockfall behavior is essential for accurately predicting hazards in both natural and engineered environments, yet prior research has predominantly focused on spherical rocks or single-impact scenarios, leaving critical gaps in highlighting the dynamics of non-spherical rocks and multiple impacts. This study addresses these shortcomings by investigating the influence of rock shape and release angle on motion, energy dissipation, and impact behavior. To achieve this, an innovative approach rooted in the Video-Assisted Rockfall Kinematics Analysis (VARKA) procedure was introduced, integrating a custom-designed apparatus, controlled experimental setups, and sophisticated data analysis techniques. Experiments utilizing a pendulum-based release system analyzed various scenarios involving different rock shapes and release angles. These tests provided comprehensive motion data for multiple impacts, including trajectories, translational and angular velocities, and the coefficient of restitution (COR). Results revealed that non-spherical rocks exhibited significantly more erratic trajectories and greater variability in COR values compared to spherical rocks. The experiments demonstrated that ellipsoidal and octahedral shapes had substantially higher variability in runout distances than spherical rocks. COR values for ellipsoidal shapes spanned a wide range, in contrast to the tighter clustering observed for spherical rocks. These findings highlight the pivotal influence of rock shape on lateral dispersion and energy dissipation, reinforcing the need for data-driven approaches to enhance and complement traditional physics-based predictive models.