Framework for Safe Mixed Fleet Operations in Underground Mining
Published: February 04,2025This initiative establishes a safety framework for mixed traffic operations, enabling coexistence between autonomous and manually operated equipment. Deliverables include:
- Theoretical Foundations: Developing a validated safety system using System-Theoretic Process Analysis (STPA) and formal safety assurance methodologies. (Nearing publication)
- Technical Implementation: Defining safety protocols for two-way ranging, obstacle detection, and collision avoidance systems. (Content generation)
- Industry Application: Documenting real-world case studies of multi-vendor interoperability and sensor fusion-based safety systems. (Future paper)
- Ecosystem: Develop a vision for the system of the strategy for transitioning from current innovations to an open ecosystem. (Future paper)
PROJECT BACKGROUND
The Framework for Safe Mixed Traffic Operation in Underground Mining Subcommittee will be developing a suite of four white papers:
- Theoretical Foundations
- Technical Implementation
- Industry Applications (to come)
- Ecosystems (to come)
They will articulate the urgent need for a comprehensive safety framework for mixed traffic operation in underground mining. This framework is pivotal for enabling flexible operations—specifically, the coexistence of manned and automated machines within the same work areas as humans. The proposed framework aims to facilitate mixed interactions of human and interoperable machine traffic, allowing for safe integration of automated machines and vehicles from various Original Equipment Manufacturers (OEMs) with manned machinery, vehicles, and on-site workers in the same work zone. The goal is to cultivate a harmonious and secure operational environment that not only bolsters productivity but also safeguards the well-being of every stakeholder involved, resulting in the elimination of segregated safety isolations zones for automated machines and vehicles.
Building upon the foundational principles established in GMG’s Guideline for Applying System Safety in Autonomous Mining, these white papers intend to venture deeper into the unique challenges and solutions relevant to underground mining. These white papers will extend these principles to the broader mining industry and, by extension, to the global construction and defense sectors. These industries stand on the precipice of a paradigm shift, poised to embrace automated mobile machinery and vehicles within controlled environments, mirroring the mining industry’s technological progress.
This project intends to present a safety framework that is adaptable, scalable, and universally applicable across various sectors where large mobile machines and vehicles are fundamental to operations.
Theoretical Foundations White Paper
PURPOSE
The purpose of this white paper is to leverage principles from the “System Safety for Autonomous Mining” white paper to create a validated safety system for mixed traffic environments. This approach will be based on fundamental mathematical and physical principles and implemented through proven algorithms described as a formal approach to mixed traffic safety.
The objective is to lay the theoretical foundation for a safety framework that integrates automated and manned machinery in underground mining, enhancing both productivity and safety.
IN SCOPE
This white paper will cover the fundamental mathematical (i.e., logic, physics, and geometry) and physical principles underpinning the mixed traffic safety system in relation to GMG’s white paper on “System Safety for Autonomous Mining”. Additionally, the scope will include considerations for mixed autonomy systems and mixed systems that include autonomous and manned machinery.
OUT OF SCOPE
The proposed theoretical foundation white paper will concentrate on the safe operability of systems, focusing on the safety interactions between humans and machines. It does not address production systems, nor does it tackle the integration of different vendors’ machines and applications into the production flow. Practical examples of implementation, utilization in industry, and operations of an open ecosystem for safe mixed traffic will be addressed in a complementary white paper.
TABLE OF CONTENTS
1 Introduction
1.1 Project Overview
1.2 Importance of Theoretical Foundations in Safety Frameworks
1.3 Scope and Objectives
1.4 Out of Scope
1.5 Concepts in a Nutshell
2 Concept, Terms, and Definitions
3 System Theory and System Safety
4 Theoretical Principles
4.1 Measureable Spaces
4.2 Formal Positioning – Proven Localization
4.3 Safety Algorithm
5 Conclusion
Note the Table of Contents is subject to change as the project advances.
WHAT'S HAPPENING
- Q3 2025: Review period.
- Next steps: layout and publication.
Technical Implementation White Paper
PURPOSE
The purpose of this white paper is to provide a comprehensive overview of practical deployment of safety systems in mixed traffic environments within underground mining. This document aims to bridge the gap between the theoretical principles outlined in the Theoretical Foundation white paper and their real-world implementation. By offering detailed insights and practical information, this white paper supports the broader goals of the Framework for Safe Mixed Fleet Operations in Underground Mining, enhancing safety and productivity in underground mining operations.
As one of four interconnected white papers, the technical implementations will focus on translating theoretical safety principles into practical. It will provide detailed examples on setting up, configuring, and integrating the necessary hardware and software components with the help of toolchains to ensure a safe and efficient mixed traffic environment. This includes practical aspects of implementing a safety system that allows for the safe coexistence of manned and automated machines within the same operational areas. Building on the theoretical foundation established in the first white paper, this document aims to bridge the gap between theory and practice, offering engineers and technical professionals’ insights that may assist with the implementation of safety systems in underground mining operations. The linking factor between this and the other three white papers is the overarching goal of enhancing safety and productivity in mixed traffic operations through as cohesive an approach as practical.
The objective of the technical implementation white paper is to provide detailed guidance on how the theoretical principles can be implemented in practice. This includes:
- Detailed instructions on setting up two-way ranging.
- Guidelines for integrating safety algorithms into existing systems.
- Practical solutions for common implementation challenges.
- Case studies and examples of successful implementations.
- Compliance with relevant industry standards and regulations.
- Using System Safety and System-Theoretical Process Analysis (STPA) as part of the overall safety assurance concept. In combination with the theoretical principles outlined in the Whitepaper “Theoretical Foundation” System Safety & STPA will allow for more formal assurance (safety) cases where needed as complement to argumentations.
IN SCOPE
This white paper will delve into the practical aspects of setting up a mixed traffic system in underground mines, including limitations, requirements, options, and practical solutions.
OUT OF SCOPE
This document will not address production systems or the integration of different vendors’ machines into the production flow. It focuses solely on the practical implementation of the safety system and the interactions between humans and automated machines.
TABLE OF CONTENTS
Under development.
WHAT'S HAPPENING
- Content generation.
Project Steering Committee
Andrew Scott – Symbiotic Innovations
Caterpillar
Christian Grante – Combitech
Christian Quirion – Agnico Eagle
Peter Burman – Boliden
Get Involved
Publication Images
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