scholarly journals The wavelet transforms technique in the computer-aided system for controlling the quarry unmanned vehicles

2021 ◽  
Vol 315 ◽  
pp. 03022
Author(s):  
Ivan Chicherin ◽  
Boris Fedosenkov ◽  
Dmitriy Dubinkin ◽  
Wang Zhenbo
Keyword(s):  
Wavelet Transforms ◽  
Matching Pursuit ◽  
Effective Means ◽  
Unmanned Vehicles ◽  
Open Pit ◽  
Open Pit Mining ◽  
Frequency Distributions ◽  
One Dimensional ◽  
Time Frequency ◽  
Computer Aided

Introduction. Purpose of the work. Within the framework of the computer-aided system, a technology has been formed for the method of controlling the current trajectories (CTs) of unmanned vehicles (UMVs) when they move along routes in a quarry in open pit mining. The purpose of the presented studies is to analyze the application of a wavelet transforms technique to the problem of routing unmanned vehicles when they move along routes within open pit roads. Methodology. The results of modeling certain one-dimensional signals corresponding to the UMV current trajectories when they deviate to the left / right from a nominal axial trajectory (NAT), as well as their time-frequency representations in a wavelet medium are presented. An algorithm of the procedure for displaying scalar UMV CT control signals in a complex medium of time-frequency wavelet transforms has been developed and described. Such a transformation allows for a functionally transparent and information-capacious monitoring of the UMV movement and efficiently manage the processes of trajectory routing dump trucks in an open pit. Research results, analysis. The processes of modifying the UMV movement current trajectories under the control of the computer-aided system are generated using wavelet transforms methods. They are based on algorithms for projecting the trajectory signals with a time-dependent frequency (chirp signals) onto a set of wavelet functions as part of a wavelet thesaurus (wavelet dictionary), executing certain wavelet matching pursuit procedures, and displaying the CT scalar signals in a specific multidimensional medium of Cohen’s class time-frequency distributions. The simulation results in the form of the current trajectory (CT-) signals waveforms and their three-dimensional time-frequency representations as Wigner maps showing the UMV movement in a start-stop mode, as well as the signals of formed continuous deviation trajectories when they leave to the left and to the right from the NAT, are presented. An algorithm for the formation of 3D-representations of UMV current trajectory one-dimensional signals is presented. Conclusion. The conclusion is made that the mathematical technique of wavelet transforms is the most expedient and effective means for computer-aided monitoring and controlling the dynamics of UMV movement along routes within open pit roads.

scholarly journals The technique of wavelet transforms in the computer-aided system for controlling the unmanned dump trucks movement

2021 ◽  
Vol 1 (3) ◽  
pp. 106-114
Author(s):  
Ivan V. Chicherin
Keyword(s):  
Wavelet Transforms ◽  
Matching Pursuit ◽  
Unmanned Vehicles ◽  
Open Pit ◽  
Open Pit Mining ◽  
Frequency Distributions ◽  
One Dimensional ◽  
Time Frequency ◽  
Computer Aided ◽  
Dump Trucks

Introduction, purpose of the work. Within the framework of the computer-aided system, the technology of a method is formed to control the current trajectories (CT) of unmanned vehicles (UMV) when they move along quarry routes in open-pit mining. The purpose of the presented research is to analyze the application of the wavelet transforms technique to the problem of routing unmanned vehicles when they move along quarry routes. Methodology. The results of modeling one-dimensional signals corresponding to the UMV current trajectories are presented, when the latters deviate to the left / right from the nominal axial trajectory (NAT), as well as their time-frequency distributions in the wavelet medium. The algorithm of the procedure for displaying scalar signals is developed and described to control UMV CT in a complex medium of time-frequency wavelet transforms. This transformation allows you to monitor the movement of UMV in a functionally transparent and informative way and effectively manage the processes of trajectory routing of dump trucks in the quarry. The analysis of research results. The processes of modifying the current trajectories of the UMV movement under the control of the computer-aided system are generated using the methods of wavelet transforms. They are based on algorithms for projecting trajectory signals with a time-dependent frequency (chirp signals) onto a set of wavelet functions within a wavelet thesaurus (wavelet dictionary), wavelet matching pursuit procedures, and representing scalar signals in a specific multidimensional medium of Cohen’s class time-frequency distributions. Simulation results in the form of waveform trajectory (CT-) signals and their three-dimensional Wigner time-frequency maps representing the movement of UMV in a start-stop mode, and the signals of formed continuous deviation trajectories while they deflect to the left and right of NAT. The algorithm for generating a 3D-image of a UMV current trajectory one-dimensional signal is presented. Conclusion. It is concluded that the mathematical technique of wavelet transforms is the most appropriate and effective one for computer-aided monitoring and controlling the dynamics of UMV moving along opencast mine routes.

scholarly journals Using a wavelet medium for computer-aided controlling the movement of unmanned vehicles along quarry routes

2021 ◽  
Vol 1 ◽  
pp. 103-112
Author(s):  
Ivan V. Chicherin ◽  
◽  
Boris A. Fedosenkov ◽  
Ilia S. Syrkin ◽  
Vladimir Iu. Sadovets ◽  
...  
Keyword(s):  
Wavelet Transforms ◽  
Wigner Distribution ◽  
Matching Pursuit ◽  
Unmanned Vehicles ◽  
Gabor Wavelet ◽  
Open Pit ◽  
Open Pit Mining ◽  
Frequency Distributions ◽  
Time Frequency ◽  
Opencast Mine

Introduction. It is established that the most effective tool for monitoring and controlling the dynamics of current trajectories (CT) of unmanned vehicles (UMV) when moving along opencast mine routes in open pit mining is the wavelet transforms technique. Methodology. A detailed analysis of the procedures related to the technology of converting 1D-current trajectory signals (CT-signals) into a multidimensional medium of time-frequency distributions (TFD) is carried out. The Wigner distribution is selected as a working distribution for processing CT-signals. This distribution is considered from the point of view of its ability to represent one-dimensional CT-signals of UMV in an information-intensive and functionally transparent format of specific TFDs. Research results and analysis. On the example of curved routes, the nature of the so-called forward and reverse transients of CT-signals of UMV, formed in the subsystems of external and autonomous control (ECSS and ACSS) of unmanned vehicles, is considered. Mathematical tools are described for wavelet transformations: Gabor wavelet functions, the wavelet matching pursuit algorithm (MP-algorithm), and Cohen’s class time-frequency wavelet distributions. Conclusion. The procedures of processing the trajectory signals with using the means mentioned above make it possible to implement effectively the functions of controlling the UMV movement along current trajectories formed by the system on opencast mine routes.

scholarly journals Dynamic modal control of unmanned vehicle movement in open pit mining

2021 ◽  
Vol 44 (3) ◽  
pp. 271-284
Author(s):  
I. V. Chicherin ◽  
B. A. Fedosenkov
Keyword(s):  
Wavelet Transforms ◽  
Open Pit ◽  
Open Pit Mining ◽  
Modal Control ◽  
Frequency Distributions ◽  
Unmanned Vehicle ◽  
Time Frequency ◽  
Cohen's Class ◽  
Computer Aided ◽  
Modal Controller

The purpose of this study is to present a number of aspects in the modern concept of computer-aided dynamic modal control of unmanned quarry vehicles in open pit mining. In particular, the software and hardware module that is a part of the “Smart Quarry” global structure deals with the conditions of matching a form of specific current trajectories (their deviation to the left or right of the nominal axial trajectory) to information “trajectory” chirp signals. The study employs the methods of wavelet transforms to convert one-dimensional signals that generate unmanned vehicle current trajectories into the time-frequency distributions of Cohen’s class. The formation of unmanned vehicle current trajectories under their deviation to the left / right from the nominal axial trajectory on straight and curved routes is considered schematically. It is noted that the tracking of unmanned current trajectories on quarry routes is carried out taking into account the nature of trajectory signals. The difference between the introduced dynamic modal control of the unmanned vehicle and the static one is formulated. Some fragments displaying 1D-signals in a wavelet medium are introduced into the autonomous and external control subsystems. The computer-aided control system uses such elements of the wavelet transforms technique as Gabor wavelet functions, the wavelet matching pursuit algorithm, and Cohen’s class time-frequency distributions. The research results in formulating the criteria for forming the unmanned vehicle current trajectories by the control system in the form of its reactions to sporadic disturbances caused by the occurrence of static or dynamic obstacles on a route. The algorithm of dynamic modal control of current trajectories has been developed. The concept of forward and reverse transient processes of signals of unmanned vehicle trajectory deviation has been introduced. The estimation procedure of modal controller parameters has been described. The algorithm has been developed for modal controller matrix recalculation, which has the form of the chain of sequentially implemented matrix procedures. It should be noted in conclusion that a computer-aided system for modal control of current trajectory deviation has been developed on the basis of the performed research. It enables to implement the functions of controlling the dynamics of technological and safe movement of unmanned vehicles along the quarry routes in a conflict environment of open pit mining.

scholarly journals FORMING SIGNALS OF CURRENT TRAJECTORIES IN COMPUTER-AIDED SYSTEM OF MODAL CONTROLLING UNMANNED VEHICLES IN OPEN PIT MINING

2021 ◽  
Vol 2021 (4) ◽  
pp. 35-44
Author(s):  
Ivan Vladimirovich Chicherin ◽  
Boris Andreevich Fedosenkov
Keyword(s):  
Control Object ◽  
Unmanned Vehicles ◽  
Open Pit ◽  
Open Pit Mining ◽  
Subject Field ◽  
Dynamic Type ◽  
Chirp Signals ◽  
Computer Aided ◽  
The Difference ◽  
And Control

The article defines the object of control in the form of signals of current trajectories (CT), along which unmanned vehicles (UMV) move. It describes the subject field of research – the principle and technology of forming the signals generated by the computer-aided system for modal controlling the UMVs during their movement along quarry routes. In order to develop procedures for identifying an upcoming trajectory of the UMV when bypassing some static or dynamic obsta-cles, conditions are included in the software and hardware complex for the formation of the UMV corresponding trajectory direction based on assigned sinusoidal-like frequency-time-dependent functions (chirp signals) responsible for redirecting the UMV along a particular trajectory. The cor-responding chirp signals for the left and right deviation trajectories of the UMV are fixed. The no-tion of sporadic disturbances and force-modal transient processes (TP) is introduced. There has been also reviewed a new description of TP, whose signal contains the variable frequency changing by a certain law depending on the direction and nature of a CT deviation and the environment of UMV. The essence and reasons for the effects of structural and parametric nonstationarity of the control object (CO) are explained. Analytical and graphical interpretations of the emerging non-stationarity caused by the introduction of additional stationary and dynamic-type poles into the CO are presented. It is noted that the stationary poles characterize the inertia of the aperiodic components of the trajectory chirp signals, and the dynamic ones determine the permanently varied frequency of transients (their chirp form). The properties of both sporadic and forced-modal TPs’ poles localized on the complex plane are characterized. Calibration characteristics are determined that establish a relationship between the instantaneous frequency of TP and the metric deviation of UMV CT relative to the nominal axial trajectory. The difference between the procedures of localization and re-localization of poles for modal upward and downward reverse TP, on which the efficiency and safety of UMV moving along the quarry routes, depends, is functionally identified and considered. All the procedures mentioned above make it possible to monitor online and control effectively the dynamics of operative and safe UMV trajectory moving along technological quarry routes in open pit mining

scholarly journals MONITORING OF THE DYNAMIC STATE OF AUTONOMOUS HEAVY PLATFORMS ON THE QUARRY ROUTES OF MINING ENTERPRISES

2020 ◽  
Vol 12 (4) ◽  
pp. 600-608
Author(s):  
Svetlana KOSTYUK ◽  
◽  
Ivan CHICHERIN ◽  
Boris FEDOSENKOV ◽  
Dmitry DUBINKIN ◽  
...  
Keyword(s):  
Matching Pursuit ◽  
Open Pit ◽  
Dynamic State ◽  
External Control ◽  
Time Frequency ◽  
Chirp Signals ◽  
Computer Aided ◽  
Matching Pursuit Algorithm ◽  
The Right ◽  
Current Monitoring

Purpose of work. The article presents the results of theoretical research and developments obtained at the Kuzbass state technical university on the implementation of current monitoring and bringing about signal processing procedures for the dynamic state of autonomous heavy platforms (AHP) on open pit mine routes. In order to obtain information about the generated current trajectories (CT) of unmanned mining dump trucks, in the software and hardware complexes of the computer-aided dispatching system (in the external control subsystem – ECSS and the autonomous control subsystem – ACSS) installed on-board of an AHP, one-dimensional (scalar) continuous signals (hereinafter converted into discrete digital ones) with a time-dependent instantaneous frequency, the so-called chirp signals, are put in accordance with the current trajectories of the AHP. Research methods. This approach makes it possible to continuously monitor and manage the dynamics of current ATP trajectories with a high degree of efficiency. Note that for the purpose of information-rich and semantically transparent representation of information about the current state of the AHP CT, the chirp signals of the CT are converted into multidimensional Cohen’s class time-frequency wavelet distributions. The Wigner-Ville distribution (hereinafter referred to as the Wigner distribution) is selected as a working tool for performing computational procedures in the hardware / software module. This distribution is based on the Gabor basis wavelet functions and the wavelet matching pursuit algorithm. The choice of Gabor wavelets as the main ones is explained by their sinusoidal-like shape, since they are sinusoidal signals modulated by the Gauss window. On the other hand, the analyzed 1D-signals indicating the current position of the AHP on the route are also sinusoidal-like. This makes it possible to approximate current signals with high accuracy based on their comparison with the wavelet functions selected from the redundant wavelet dictionary. This approximation is adaptive, since it is performed on separate local fragments of the signal analyzed depending on approximating wavelets. This is the essence of the wavelet matching pursuit algorithm. The resulting wavelet series is then transformed into the Wigner time-frequency distribution, which is used to form a corresponding CT. Research results. As an example, reconstructions of time-frequency distributions (TFD) are given, corresponding to the deviation of a certain CT to the left (the trajectory signal decreases exponentially) and to the right (the CT-signal increases) from the nominal axial trajectory (NAT). The calculated scalar signal and its TFD for the AHP CT deviating to the left from NAT are also presented. In addition, on the basis of theoretical explanations the calculated linear-increasing TFD is demonstrated, corresponding to the CT-deviation to the right from NAT, and the time invariant stationary TFD characterizing the movement of AHP along the NAT line. Сonclusion. Based on the results obtained, it is concluded that the most appropriate ways to monitor the current trajectories of AHP movement and procedures for processing the corresponding signals are the operations implemented in computer-aided subsystems of external and autonomous control and based on such concepts as the Cohen’s class wavelet distributions, Gabor redundant dictionary of wavelet functions, the wavelet matching pursuit algorithm, and the representation of technological chirp-signals, as well as frequency-stationary signals about the current AHP trajectories represented in the wavelet medium. In this connection, the authors concluded that the procedures realizing the current monitoring of AHP movement on open pit mine routes and implementing the process of analyzing a relevant dynamic change in current trajectories, described in the article and embedded in software and hardware autonomous and external control subsystems of "Smart opencast mine” are adequate for performing required functions. The introduction of the principles of computer-aided controlling the unmanned mining vehicles allows you to optimize labor costs for the operation of mining equipment, reduce the cost of current work, and attract highly qualified specialists for the development and operation of innovative transport equipment. The implementation of such prospects in mountainous regions (of a country) makes it possible to diversify the range of labor resources and, in general, contribute to the sustainable social and economic development of mountain territories.

scholarly journals Vehicles for Open-Pit Mining with Smart Scheduling System for Transportation Based on 5G

2021 ◽  
Vol 12 (5) ◽  
pp. 827-835
Author(s):  
Mohanad F Jwaid, Husam K Salih Juboori
Keyword(s):  
Artificial Intelligence ◽  
Unmanned Vehicles ◽  
Open Pit Mine ◽  
Open Pit ◽  
Open Pit Mining ◽  
Transport Costs ◽  
Time Data ◽  
Nsga Ii ◽  
Scheduling System ◽  
Unmanned Vehicle

In the Recent times, various technological enhancements in the field of artificial intelligence and big data has been noticed. This advancements coupled with the evolution of the 5G communication and Internet of Things technologies, has helped in the development in the domain of smart mine construction. The development of unmanned vehicles with enhanced and smart scheduling system for open-pit mine transportation is one such much needed application. Traditional open-pit mining systems, which often cause vehicle delays and congestion, are controlled by human authority. The number of sensors has been used to operate unmanned cars in an open-pit mine. The sensors haves been used to prove the real-time data in large quantity. Using this data, we analyses and create an improved transportation scheduling mechanism so as to optimize the paths for the vehicles. Considering the huge amount the data received and aggregated through various sensors or sources like, the GPS data of the unmanned vehicle, the equipment information, an intelligent, and multi-target, open-pit mine unmanned vehicle schedules model was developed. It is also matched with real open-pit mine product to reduce transport costs, overall unmanned vehicle wait times and fluctuation in ore quality. To resolve the issue of scheduling the transportation, we prefer to use algorithms based on artificial intelligence. In addition to four other models we are proposing a decomposition-based restricted genetic dominance (DBCDP-NSGA-II) algorithm, which retains viable and non-facilitating solutions in small areas in order to improve the convergence, distribution and diversity of traditional high-dimensional multi-objective fast-dominated genetic sorting Algorithms (NSGA-II).

scholarly journals Study on energy conservation and emission reduction of pure electric non-road mining dump truck

2021 ◽  
Vol 268 ◽  
pp. 01025
Author(s):  
Huawei Zhang ◽  
Yong Ma ◽  
Zhenzhong Yang ◽  
Lijun Wang ◽  
Shuman Guo ◽  
...  
Keyword(s):  
Energy Consumption ◽  
Emission Reduction ◽  
Field Experiments ◽  
Effective Means ◽  
Pollutant Emissions ◽  
Open Pit ◽  
Open Pit Mining ◽  
Dump Truck ◽  
Mobile Machinery ◽  
Mine Dump

Non-road mobile machinery emits a large amount of pollutants, which has attracted wide attention. As one of the effective means of air pollution control, the application of new energy technology in the field of non-road mobile machinery is slightly inadequate. Mine dump trucks play an important role in the transportation of open-pit mining areas, but they have high power, high level of activity, and difficult to control pollutant emissions. In this study, field experiments were carried out in several open pit mines in China. By comparing with similar diesel engine powered vehicles, the potential of energy consumption and emission reduction was evaluated. Research shows that pure electric mine dump truck can effectively reduce energy consumption and emissions.

scholarly journals COHEN’S CLASS TIME-FREQUENCY DISTRIBUTIONS FOR MEASUREMENT SIGNALS AS A MEANS OF MONITORING TECHNOLOGICAL PROCESSES

2019 ◽  
Vol 62 (4) ◽  
pp. 324-329
Author(s):  
D. B. Fedosenkov ◽  
A. A. Simikova ◽  
S. M. Kulakov ◽  
B. A. Fedosenkov
Keyword(s):  
Wigner Distribution ◽  
Bulk Material ◽  
Mathematical Tool ◽  
Distribution Map ◽  
Frequency Distributions ◽  
One Dimensional ◽  
Time Frequency ◽  
Technological Processes ◽  
Class Time ◽  
Cohen's Class

The article presents and describes Cohen’s class time-frequency distributions which are expedient to use as a mathematical tool that allows to create a convenient – in terms of information content and semantic clarity – visual-graphical representation of the opera ting modes of various technological processes including processes of ferrous metallurgy. It was noted that a controlling process is usually implemented without simultaneous visual monitoring of each scalar (one-dimensional) coordinate that is under control, but the presence of such monitoring is an important condition for the computer-aided controlling of the dynamics of non-stationary technological processes. To eliminate this drawback, it was proposed to perform synchronous monitoring using the multidimensional Cohen’s class time-frequency distributions, when each measurement scalar signal is specifically represented through one of these distributions, for example, the Wigner-Ville distribution. An expression is given for the generalized distribution of Cohen’s class with a distribution kernel and an ambiguity function. This function allows receiving distributions of various types from the maternal function. The most typical representatives of time-frequency distributions forming this class are given with their available  kernels. The possibility of appearance of interference elements, which make it difficult to identify the controlled modes, on a signal distribution map is proved. Case of the formation of virtual elements within the Wigner-Ville distribution representing a two-component one-dimensional signal is considered. Te conditions are explained for the emergence of parasitic elements on the distribution map, obtained, for example, during realizing the process of multi-component feeding the bulk blast furnace charge materials in the production of sintering mixture. An analytical expression is obtained for the Wigner distribution, which displays a multi-component scalar signal and contains the information (useful) and virtual (parasitic) parts of the time-frequency distribution. A link between the number of bulk material feeders available in the feeding devices unit and the number of parasitic (virtual) elements in the Wigner distribution was determined. Using the dosing process as an example, the effect of the noise components propagation in the Wigner distribution is demonstrated. An example is given to illustrate the penetration of noise into the Wigner distribution and appearance of the virtual concentration in it when displaying a signal waveform with a noisy pause and two sections with different frequencies. An expression for the Wigner distribution in the form of a comb function is obtained. The conclusion was made about the parameters of the distribution periodicity and the required sampling frequency of measurement signals.

scholarly journals Assessment of the Protection and Efficiency of Work of Information Systems Used in the Mining Industry

2019 ◽  
Vol 105 ◽  
pp. 03003
Author(s):  
Gulzira Mukasheva ◽  
Natalya Stenina ◽  
Kakim Sagindykov
Keyword(s):  
Information Systems ◽  
Mining Industry ◽  
Semantic Networks ◽  
Open Pit ◽  
Open Pit Mining ◽  
Information Flows ◽  
Learning Tools ◽  
Computer Aided ◽  
The Right ◽  
Computer Aided Learning

The issues of digitalization of the mining industry, including open-pit mining, are considered. The issues of the use of semantic systems as an element of information flows, allowing to determine and select the right decisions in the process of mining management, in particular, in the mining of minerals by open mining, are covered. The article formulates requirements for semantic networks for the description of material in computer-aided learning tools and analyzes the most well-known models of semantic networks.

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