scholarly journals Stability modeling of complex underground mine openings integrating point clouds and FEM 3D

2021 ◽  
Vol 833 (1) ◽  
pp. 012108
Author(s):  
F Agliardi ◽  
R Castellanza ◽  
G Frigerio ◽  
G M Orlandi
Keyword(s):  
Point Clouds ◽  
Underground Mine ◽  
Mine Openings ◽  
Stability Modeling

Trajectory via-point generation for autonomous mobile manipulation using 3D LiDAR data

2020 ◽  
Vol 44 (4) ◽  
pp. 530-540
Author(s):  
Michael R. Wrock ◽  
Scott B. Nokleby
Keyword(s):  
Underground Mining ◽  
Point Clouds ◽  
Underground Mine ◽  
Mobile Manipulator ◽  
Mobile Manipulation ◽  
Selection Algorithm ◽  
Point Selection ◽  
Mining System ◽  
Position And Orientation ◽  
3D Lidar

In this work, an approach to generating a set of via points for use in manipulator trajectory path planning is presented. The approach was developed for use on a robotic underground mining system, particularly for the task of autonomous application of a sprayable concrete called shotcrete. A LiDAR (light detection and ranging) scanner on a nodding head produces point clouds that are used as the input for the via-point selection algorithm. The algorithm generates a set of position and orientation via points that the manipulator must follow to perform the shotcreting task. The developed algorithm has been successfully tested on an autonomous mobile-manipulator system in a scaled mock-up of an underground mine. The main advantage of this algorithm is the ability to generate via points for any section of an underground mine in any position relative to the robot.

Numerical noise-stability modeling of ukrainian regional satellite communucation networks

1998 ◽  
Vol 4 (1) ◽  
pp. 92-101
Author(s):  
A.S. Mazmanishvili ◽  
◽  
O.Ya. Rafalovich ◽  
◽  
Keyword(s):  
Noise Stability ◽  
Numerical Noise ◽  
Stability Modeling
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