HIL Simulation of a Track Type Tractor for Autonomous Controller Testing

2008 ◽  
Author(s):  
Nicolas Sleiman ◽  
Julie A. Reyer
Keyword(s):  
Mining Industry ◽  
Simulated Data ◽  
Soil Conditions ◽  
Hardware In The Loop ◽  
Mining Operations ◽  
Input Signals ◽  
Control Modules ◽  
Earthmoving Equipment ◽  
Digital Or ◽  
Hil Simulation

The mining industry is introducing several autonomous mining operations, however the development of these algorithms is extremely expensive. This paper discusses the integration of a Hardware In the Loop (HIL) simulation to earthmoving equipment to aid in the development of autonomous mining operations. The benefit of this simulation is to save time and money for engineers developing the autonomous features. The hardware setup contained machine components that were connected to the Electronic Control Modules (ECMs). The ECMs used in the lab setup were the same as those on the actual tract type tractors. Those ECMs receive input signals based on which they command the solenoids. The HIL simulator converts the analog outputs into digital ones. Then the HIL sends out digital or simulated outputs to the ECMs such as pressure and fuel levels. The results of this work compare simulated data and real machine test data of an autonomous feature. A comparison is presented between the autonomous feature and a human operator. Finally potential of the HIL is demonstrated examining the autonomous feature with different soil conditions.

scholarly journals Issues of Exploitation of Induction Motors in the Course of Underground Mining Operations

2017 ◽  
Vol 62 (3) ◽  
pp. 579-596 ◽  
Author(s):  
Stanisław Gumula ◽  
Wiktor Hudy ◽  
Malgorzata Piaskowska-Silarska ◽  
Krzysztof Pytel
Keyword(s):  
Induction Motors ◽  
Underground Mining ◽  
Mechanical Energy ◽  
Mining Industry ◽  
Electrical Energy ◽  
Mining Operations ◽  
Slip Ring ◽  
Input Signals ◽  
Large Distortion ◽  
Oriented System

Abstract Mining industry is one of the most important customers of electric motors. The most commonly used in the contemporary mining industry is alternating current machines used for processing electrical energy into mechanical energy. The operating problems and the influence of qualitative interference acting on the inputs of individual regulators to field-oriented system in the course of underground mining operations has been presented in the publication. The object of controlling the speed is a slip-ring induction motor. Settings of regulators were calculated using an evolutionary algorithm. Examination of system dynamics was performed by a computer with the use of the MATLAB / Simulink software. According to analyzes, large distortion of input signals of regulators adversely affects the rotational speed that pursued by the control system, which may cause a large vibration of the whole system and, consequently, its much faster destruction. Designed system is characterized by a significantly better resistance to interference. The system is stable with the properly selected settings of regulators, which is particularly important during the operation of machinery used in underground mining.

scholarly journals A GIS Software Module for Environmental Impact Assessment of the Open Pit Mining Projects for Small Mining Operators in Kazakhstan

2021 ◽  
Vol 13 (12) ◽  
pp. 6971
Author(s):  
Mikhail Zarubin ◽  
Larissa Statsenko ◽  
Pavel Spiridonov ◽  
Venera Zarubina ◽  
Noune Melkoumian ◽  
...  
Keyword(s):  
Environmental Impact ◽  
Impact Assessment ◽  
Environmental Impact Assessment ◽  
Mining Industry ◽  
Open Pit ◽  
Open Pit Mining ◽  
Software Module ◽  
Mining Operations ◽  
Open Pit Mines ◽  
Gis Software

This research article presents a software module for the environmental impact assessment (EIA) of open pit mines. The EIA software module has been developed based on the comprehensive examination of both country-specific (namely, Kazakhstan) and current international regulatory frameworks, legislation and EIA methodologies. EIA frameworks and methods have been critically evaluated, and mathematical models have been developed and implemented in the GIS software module ‘3D Quarry’. The proposed methodology and software module allows for optimised EIA calculations of open pit mines, aiming to minimise the negative impacts on the environment. The study presents an original methodology laid out as a basis for a software module for environmental impact assessment on atmosphere, water basins, soil and subsoil, tailored to the context of mining operations in Kazakhstan. The proposed software module offers an alternative to commercial off-the-shelf software packages currently used in the mining industry and is suitable for small mining operators in post-Soviet countries. It is anticipated that applications of the proposed software module will enable the transition to sustainable development in the Kazakh mining industry.

scholarly journals Fixed Wing Aircraft Automatic Landing with the Use of a Dedicated Ground Sign System

Aerospace ◽  
2021 ◽  
Vol 8 (6) ◽  
pp. 167
Author(s):  
Bartłomiej Brukarczyk ◽  
Dariusz Nowak ◽  
Piotr Kot ◽  
Tomasz Rogalski ◽  
Paweł Rzucidło
Keyword(s):  
Embedded System ◽  
Final Section ◽  
Vision System ◽  
Video Camera ◽  
Hardware In The Loop ◽  
Glide Path ◽  
Automatic Landing ◽  
Input Signals ◽  
Fuzzy Logic Expert System ◽  
Longitudinal Channel

The paper presents automatic control of an aircraft in the longitudinal channel during automatic landing. There are two crucial components of the system presented in the paper: a vision system and an automatic landing system. The vision system processes pictures of dedicated on-ground signs which appear to an on-board video camera to determine a glide path. Image processing algorithms used by the system were implemented into an embedded system and tested under laboratory conditions according to the hardware-in-the-loop method. An output from the vision system was used as one of the input signals to an automatic landing system. The major components are control algorithms based on the fuzzy logic expert system. They were created to imitate pilot actions while landing the aircraft. Both systems were connected with one another for cooperation and to control an aircraft model in a simulation environment. Selected results of tests presenting control efficiency and precision are shown in the final section of the paper.

scholarly journals Mining Industry Impact on Environmental Sustainability, Economic Growth, Social Interaction, and Public Health: An Application of Semi-Quantitative Mathematical Approach

Processes ◽  
2021 ◽  
Vol 9 (6) ◽  
pp. 972
Author(s):  
Muhammad Mohsin ◽  
Qiang Zhu ◽  
Sobia Naseem ◽  
Muddassar Sarfraz ◽  
Larisa Ivascu
Keyword(s):  
Economic Growth ◽  
Energy Source ◽  
Coal Mining ◽  
Environmental Sustainability ◽  
Mining Industry ◽  
Provincial Government ◽  
Mining Operations ◽  
Human Needs ◽  
The Government ◽  
Operational Activities

The mining industry plays a significant role in economic growth and development. Coal is a viable renewable energy source with 185.175 billion deposits in Thar, which has not been deeply explored. Although coal is an energy source and contributes to economic development, it puts pressure on environmental sustainability. The current study investigates Sindh Engro coal mining’s impact on environmental sustainability and human needs and interest. The Folchi and Phillips Environmental Sustainability Mathematics models are employed to measure environmental sustainability. The research findings demonstrated that Sindh Engro coal mining is potentially unsustainable for the environment. The toxic gases (methane, carbon dioxide, sulfur, etc.) are released during operational activities. The four significant environment spheres (atmosphere, hydrosphere, biosphere, and lithosphere) are negatively influenced by Thar coal mining. The second part of the analysis results shows that human needs and interests have a positive and significant relationship except for human health and safety with Sindh Engro coal mining. Environmental pollution can be controlled by utilizing environmentally friendly coal mining operations and technologies. Plantation and ecological normalization can protect the species, flora, and fauna of the Thar Desert. The government of Pakistan and the provincial government of Sind should strictly check the adaptation of environmental standards. Furthermore, the researchers should explore the environmental issues and solutions so that coal mining becomes a cost-efficient and environmental-friendly energy source in Pakistan.

Electric Motors Coupled to Hydraulic Motors as Actuators for Hydraulic Hardware-in-the-Loop Simulation

2005 ◽  
Author(s):  
Scott Driscoll ◽  
James D. Huggins ◽  
Wayne J. Book
Keyword(s):  
Complete System ◽  
Control Valve ◽  
Operating Conditions ◽  
Flow Control Valve ◽  
Hardware In The Loop ◽  
Hydraulic Systems ◽  
Advantages And Disadvantages ◽  
Hydraulic Motors ◽  
Proportional Flow ◽  
Hil Simulation

Hardware-in-the-Loop (HIL) Simulation enables testing of an actual physical component of a system under a variety of conditions without the expense of full scale testing. In hydraulic systems, flows or pressures that interface with the component in question are controlled by a computer running a simulation designed to emulate a complete system under real operating conditions. Typically, servo valves are used as actuators to control the flows or pressures. This paper investigates the use of electric servo-motors coupled to hydraulic gear motors as alternative actuators, and discusses some of the advantages and disadvantages that motors have in comparison to valves. A demonstration HIL simulation involving a mobile proportional flow control valve attached to an emulated backhoe is described, and results are compared to data from a real backhoe.

scholarly journals A mimicking technique of back pressure in the hardware-in-the-loop simulation of a fuel control unit

SIMULATION ◽  
2019 ◽  
Vol 96 (4) ◽  
pp. 375-385 ◽  
Author(s):  
Yuan Yuan ◽  
Zhiwen Zhao ◽  
Tianhong Zhang
Keyword(s):  
Control Unit ◽  
Back Pressure ◽  
Hardware In The Loop ◽  
Fuel System ◽  
Working Process ◽  
Aero Engine ◽  
Aero Engines ◽  
Performance Results ◽  
The Impact ◽  
Hil Simulation

In the hardware-in-the-loop (HIL) simulation of the fuel control unit (FCU) for aero-engines, the back pressure has a great impact on the metered fuel, thus influencing the confidence of the simulation. During the practical working process of an aero-engine, the back pressure of the FCU is influenced by the combined effect of the pressure of the combustion chamber, the resistance of the spray nozzles, and the resistance of the distribution valve. There is a need to study the the mimicking technique of FCU back pressure. This paper models the fuel system of an aero-engine so as to reveal the impact of FCU back pressure on the metered fuel and come up with a scheme to calculate the equivalent FCU back pressure. After analyzing the requirements for mimicking the pressure, an automatic regulating facility is designed to adjust the FCU back pressure in real time. Finally, experiments are carried out to verify its performance. Results show that the mimicking technique of back pressure is well suited for application in HIL simulation. It is able to increase the confidence of the simulation and provide guidance to the implementation of mimicking the FCU back pressure.

scholarly journals Modern Solution for Fast and Accurate Inventorization of Open-Pit Mines by the Active Remote Sensing Technique—Case Study of Mikoszów Granite Mine (Lower Silesia, SW Poland)

Energies ◽  
2021 ◽  
Vol 14 (20) ◽  
pp. 6853
Author(s):  
Jaroslaw Wajs ◽  
Paweł Trybała ◽  
Justyna Górniak-Zimroz ◽  
Joanna Krupa-Kurzynowska ◽  
Damian Kasza
Keyword(s):  
Computer Software ◽  
Mining Industry ◽  
Ground Surface ◽  
Open Pit ◽  
Mining Operations ◽  
Buffer Zones ◽  
Sw Poland ◽  
The Impact ◽  
Cloud Of Points ◽  
Lower Silesia

Mining industry faces new technological and economic challenges which need to be overcome in order to raise it to a new technological level in accordance with the ideas of Industry 4.0. Mining companies are searching for new possibilities of optimizing and automating processes, as well as for using digital technology and modern computer software to aid technological processes. Every stage of deposit management requires mining engineers, geologists, surveyors, and environment protection specialists who are involved in acquiring, storing, processing, and sharing data related to the parameters describing the deposit, its exploitation and the environment. These data include inter alia: geometries of the deposit, of the excavations, of the overburden and of the mined mineral, borders of the support pillars and of the buffer zones, mining advancements with respect to the set borders, effects of mining activities on the ground surface, documentation of landslide hazards and of the impact of mining operations on the selected elements of the environment. Therefore, over the life cycle of a deposit, modern digital technological solutions should be implemented in order to automate the processes of acquiring, sharing, processing and analyzing data related to deposit management. In accordance with this idea, the article describes the results of a measurement experiment performed in the Mikoszów open-pit granite mine (Lower Silesia, SW Poland) with the use of mobile LiDAR systems. The technology combines active sensors with automatic and global navigation system synchronized on a mobile platform in order to generate an accurate and precise geospatial 3D cloud of points.

scholarly journals PAYING THE PIPER (IN PRAESENTIA) Xstrata South Africa (Pty) v SFF Association 2012 (5) SA 60 (SCA)

Obiter ◽  
2021 ◽  
Vol 34 (2) ◽  
Author(s):  
PJ Badenhorst
Keyword(s):  
Mining Industry ◽  
Mineral Resources ◽  
The State ◽  
Mining Operations ◽  
South Africans ◽  
Old Order ◽  
Petroleum Resources ◽  
Mineral Rights ◽  
The Right ◽  
Mining Right

This decision is an appeal from the decision of the South Gauteng High Court in SFF Association v Xstrata (2011 JDR 0407 (GSJ)). The court a quo decided incorrectly that the holder of an old-order mining right, which was converted into a (new) mining right in terms of the Mineral and Petroleum Resources Development Act 28 of 2002 (the “Act”), remains liable upon conversion for the payment of (contractual) royalties in terms of a mineral lease, which was concluded prior to enactment of the Act. The appeal was upheld by the Supreme Court of Appeal (“SCA”) (2012 (5) SA 60 (SCA) par 27). The decision was rendered by Wallis JA with the other judges concurring with his judgment. Prior to the Act mineral-right holders could grant a mining right to a miner against payment of royalties or other forms of consideration. At issue on appeal was whether the obligation to pay royalties in terms of a mineral lease “survives the introduction of the new regime in respect of mining rights brought about by the Act”. As indicated by the SCA, the Act fundamentally changed the legal basis upon which rights to minerals are acquired and exercised. Previously mineral rights were vested in the owner of land or the holder of mineral rights, which rights could be exercised upon acquisition of a statutory authorization to exploit the minerals. In terms of the new regime, common-law mineral rights were destroyed and “all mineral resources vested in the state as the custodian of such resources on behalf of all South Africans”, whereupon the state could confer the right to exploit such resources to applicants. Upon granting a mining right in terms of the Act (statutory) royalties have become payable to the state since 1 March 2010 of the Act and the Mineral and Petroleum Resources Royalty Act 28 of 2008. In order to prevent disruption of the mining industry, provision was made in the Act for the continuation of old-order rights for different transitional periods ranging from one to five years and conversion of such rights during the periods of transition. The transitional arrangements in Schedule II of the Act (“transitional arrangements”) inter alia ensured security of tenure of prospecting rights and mining rights and enabled holders thereof to comply with the Act. In particular, an old-order mining right remained valid for five years “subject to the terms and conditions under which it was granted” (item 7(1) of the transitional arrangements) and could be converted into a new mining right (item 7(2) of the transitional arrangements) if certain requirements were met. The applicant had to have: (a) met the requirements for lodgement of application for conversion; (b) conducted mining operations in respect of the mining right; (c) indicated that he would continue to conduct such mining operations upon conversion of the mining right; (d) had an approved environmental management programme; and (e) paid the prescribed conversion fee (item 7(3) of the transitional arrangements). To recap, the Xstrata decision dealt with an old-order mining right that had been converted into a (new) mining right and the effect of these statutory changes on rights to royalties which accrued to a former holder of mineral rights by virtue of a mineral lease. 

scholarly journals Sustainable Coal Mining and Electricity Generation: With Special Reference to Dahanu Thermal Power Station

2020 ◽  
Vol Special Issue (1) ◽  
Author(s):  
Sugat Tajane ◽  
Manika Kamthan
Keyword(s):  
Coal Mining ◽  
Thermal Power Station ◽  
Power Plants ◽  
Thermal Power ◽  
Mining Industry ◽  
Resource Exploitation ◽  
Power Station ◽  
Mining Operations ◽  
Environment And Health ◽  
Mineral Development

Mining Industry is often tagged as a polluting sector since it involves since it involves extensive resource exploitation by unsustainable methods. The techniques involved in mining cause tremendous destruction to the environment and health of people living in nearby areas. There is a growing consensus on sustainable and efficient mineral development which will avoid the clash between economic and environmental interests. Deployment of advanced and sustainable technological solutions in the entire mining process, fixing the gaps in its regulatory mechanisms and learning from the successes of specific domestic and international mining operations are certain solutions that have the capacity this sector more productive. The paper provides insights into the problems of mining sector and possible solutions to overcome these problems. It also provides examples of certain best practices adopted by mining corporations for sustainable coal mining. The paper also explores various methods and technologies which can be adopted by Thermal Power Plants to reduce their emissions and simultaneously conserve environment. An empirical study of Dahanu Thermal Power Station located in state of Maharashtra of India has been undertaken for this purpose to study the modern technologies adopted by them to lower their emission levels.

scholarly journals Hardware-in-the-loop (HIL) Simulation Technique for an Automotive Electronics Course

2020 ◽  
Vol 172 ◽  
pp. 1047-1052
Author(s):  
P.C. Nissimagoudar ◽  
Venkatesh Mane ◽  
Gireesha H M ◽  
Nalini C. Iyer
Keyword(s):  
Simulation Technique ◽  
Automotive Electronics ◽  
Hardware In The Loop ◽  
Hil Simulation
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