scholarly journals Probabilistic Membrane Computing-Based SLAM for Patrol UAVs in Coal Mines

2021 ◽  
Vol 2021 ◽  
pp. 1-11
Author(s):  
Jiachang Xu ◽  
Yourui Huang ◽  
Ruijuan Zhao ◽  
Yu Liu ◽  
Hongjin Li
Keyword(s):  
Coal Mine ◽  
Membrane Computing ◽  
Coal Mines ◽  
Membrane System ◽  
Environmental Perception ◽  
Integrated Navigation ◽  
Depth Cameras ◽  
Navigation Algorithm ◽  
Localization And Mapping ◽  
And Control

Patrol unmanned aerial vehicles (UAVs) in coal mines have high requirements for environmental perception. Because there are no GPS signals in a mine, it is necessary to use simultaneous localization and mapping (SLAM) to realize environmental perception for UAVs. Combined with complex coal mine environments, an integrated navigation algorithm for unmanned helicopter inertial measurement units (IMUs), light detection and ranging (LiDAR) systems, and depth cameras based on probabilistic membrane computing-based SLAM (PMC-SLAM) is proposed. First, based on an analysis of the working principle of each sensor, the mathematical models for the corresponding sensors are given. Second, an algorithm is designed for the membrane, and a probabilistic membrane system is constructed. The probabilistic SLAM map is constructed by sparse filtering. The experimental results show that PMC can further improve the accuracy of map construction. While adapting to the trend of intelligent precision mining in coal mines, this approach provides theoretical support and application practice for coal mine disaster prevention and control.

scholarly journals Prevention and Control of Hydrogen Sulphide Accidents in Mining Extremely Thick Coal Seam: A Case Study in Wudong Coal Mine

Geofluids ◽  
2021 ◽  
Vol 2021 ◽  
pp. 1-14
Author(s):  
Xuchao Huang ◽  
Enmao Wang ◽  
Gang Wang ◽  
Jiuyuan Fan
Keyword(s):  
Molecular Weight ◽  
Coal Seam ◽  
Hydrogen Sulphide ◽  
Coal Mine ◽  
Prevention And Control ◽  
Coal Mines ◽  
Dynamics Simulation ◽  
Porous System ◽  
Coal Stratum ◽  
And Control

Hydrogen sulphide is a toxic gas often present in coal seams and seriously threatens the lives and health of underground workers in coal mines. In this study, we theoretically modelled hydrogen sulphide generation in extremely thick underground coal mines with the +575 level #45 coal seam of Wudong Coal Mine as an example and obtained the on-site hydrogen sulphide emission pattern and spatial distribution features by combining field measurements and computational fluid dynamics simulation. The results showed that hydrogen sulphide mainly exists in the coal porous system in an adsorbed state. Because hydrogen sulphide has a molecular weight greater than the average molecular weight of air molecules, its concentration decreases with the increase of altitude to the bottom plate. When mining the upper stratified coal stratum, it diffuses widely in the working space; while when mining the lower coal stratum, it mainly concentrates at the bottom of the working face. Based on these analyses, on-site treatments were carried out using mixtures with different concentrations of sodium carbonate and sodium bicarbonate. In addition, different combinations of catalysts as well as type A and type B wetting agents were also tested. Eventually, a neutral KXL-I absorbent was developed, and the process of preinjecting absorbent and spraying absorbent was designed. The results showed that the newly developed KXL-I absorbent has high hydrogen sulphide absorption ability and is suitable for use as an absorbent in Wudong Coal Mine; preinjecting and spraying the absorbent can effectively prevent hydrogen sulphide disasters in the +575 level #45 coal seam in Wudong Coal Mine with the optimal final concentration of 0.9% and the absorption rate of 87% at the shearer of 66.6% at the support. Overall, our study provides valuable information for the prevention and control of hydrogen sulphide disasters in coal mines.

scholarly journals DESIGN OF IOT BASED COAL MINE MONITORING SYSTEM

2020 ◽  
Vol 9 (6) ◽  
pp. 87-94
Keyword(s):  
Monitoring System ◽  
Coal Mine ◽  
Temperature Sensor ◽  
Coal Mines ◽  
Wireless System ◽  
Toxic Gases ◽  
Cloud Server ◽  
Flame Detection ◽  
Unfavorable Condition ◽  
And Control

Safety of miners is a major challenge nowadays. So we are using IOT based wireless system for monitoring the coal mines and health of the workers. We use two modules which are directly connected to the CLOUD SERVER. In first module we use several SENSORS to monitor and control the various parameters in the coal mines such as temperature and humidity conditions, light detection, leakage of toxic gases and flame detection. Likewise, in next module we use heartbeat sensor and temperature sensor for monitoring the health of the miners. The data which are collected from these modules are stored in the cloud. The alarm warns during unfavorable condition in the coal mine.

scholarly journals Application of Inertial and GNSS Integrated Navigation to Seabird Biologging

2021 ◽  
Vol 33 (3) ◽  
pp. 526-536
Author(s):  
Masaru Naruoka ◽  
Yusuke Goto ◽  
Henri Weimerskirch ◽  
Takashi Mukai ◽  
Taichi Sakamoto ◽  
...  
Keyword(s):  
Power Consumption ◽  
High Performance ◽  
Feasible Solution ◽  
Satellite System ◽  
Integrated Navigation ◽  
Guidance And Control ◽  
Marine Vehicles ◽  
Navigation Algorithm ◽  
Global Navigation Satellite ◽  
And Control

The study demonstrates the versatility of integration of inertial navigation and global navigation satellite system (GNSS) with its unique application to seabird biologging. Integrated navigation was originally developed in the field of aerospace engineering, which requires accurate and reliable position, velocity, and attitude information for the guidance and control of aircraft and spacecraft. Due to its high performance and recent progress of sensor development, integrated navigation has been widely used not only in aerospace but also in many fields represented by land and marine vehicles. One of its ultimate applications under the constraint on the size and power consumption of devices is this study. Seabird biologging involves attaching a logging device onto a seabird for scientific purposes to understand its biomechanics, behavior, and so on. Design restrictions for the device include several tens of grams mass, several tens of millimeters in length, and several tens of milliamperes of power consumption. It is more difficult to maintain the accuracy of such a device than applications to an artificial vehicle. This study has shown that integrated navigation is a feasible solution for such extreme applications with two examples: biologging for wandering albatrosses and great frigatebirds. Furthermore, it should be stressed that the navigation captured the world’s first data of their detailed trajectories and attitudes in their dynamic and thermal soarings. For completeness, the navigation algorithm, simulation results to show the effectiveness of the algorithm, and the logging devices attached to bird are also described.

scholarly journals Differential Game and Simulation Study on Management Synergy of Regional Coal Mine Emergencies in China

2021 ◽  
Vol 2021 ◽  
pp. 1-12
Author(s):  
Yu Hao ◽  
Chaolun Sun ◽  
Jianping Wei ◽  
Sasa Gu ◽  
Fan Zhang
Keyword(s):  
Emergency Management ◽  
Differential Game ◽  
Coal Mine ◽  
Selection Process ◽  
Coal Mines ◽  
Optimal Method ◽  
Joint Force ◽  
The Government ◽  
The Cost ◽  
And Control

Emergency management of coal mines requires enhanced synergy among departments, institutions, and enterprises, which means overall efficiency in management. Their synergy can effectively lower the cost of emergency management, improve the effectiveness of it, and build a strong joint force for the prevention and control of emergencies. Accordingly, this study established a synergy system for regional coal mine emergency management and analyzed the interest relationship among key stakeholders in the system. Then, it established differential game models of the management synergy, explored the selection process of the behavior strategy of each stakeholder under different situations, and provided important tools for quantitative analysis on emergency management synergy practice. Furthermore, numerical simulation was carried out to analyze the influencing factors of their decision behaviors. The research results are of great significance for the comprehension of the evolution mechanism for the emergency management synergy of coal mines, the assistance for the government in determining the optimal method in emergency management synergy, the mobilization of the stakeholders, and the improvement of the current situation of emergency management synergy of coal mines in China.

scholarly journals Analysis on the Development Status of Coal Mine Dust Disaster Prevention Technology in China

2021 ◽  
Vol 2021 ◽  
pp. 1-9
Author(s):  
Hui Zhang ◽  
Weihai Han ◽  
Youlin Xu ◽  
Zhenfeng Wang
Keyword(s):  
Coal Mine ◽  
Prevention And Control ◽  
Occupational Diseases ◽  
Coal Mines ◽  
Control Measures ◽  
Dust Removal ◽  
Dust Collector ◽  
Mine Dust ◽  
Mining Face ◽  
And Control

In recent years, with the increasing level of mechanization, automation, and intelligence in mine mining, dust pollution in the working environment of coal mines has become increasingly serious. Coal mine dust prevention is an important work related to the life, health, and production safety of miners, and it is also one of the technical problems of mine safety in production. With the continuous revision and improvement of China′s Occupational Disease Prevention and Control Law, coal mining enterprises have generally strengthened the publicity, prevention, and control of occupational diseases among employees, and the control of coal mine dust has been used as a means for enterprises to improve the production environment and strengthen the occupational health of employees. Key work-based studies have shown that China’s coal mines have formed a theoretical system and technology system of dust prevention and control. In the future, China’s coal mines will start from intelligent dust prevention, achieve high-precision dust sensing-transmission-assessment and early warning, and develop a combined dust collector that integrates the functions of atomization dust removal, miniaturization, dry and wet mixing, and large air suction capacity. The combined dust collector realizes the efficient ventilation control and dust removal of the fine dust in wide-area complex spaces such as fully mechanized mining face and fully mechanized mining face. At the same time, breakthroughs have been achieved in low-permeability coal seams, such as strong hydraulic permeability-enhancing technology, intelligent dust-proof robots, and chemical dust suppression. This article introduces the basic concepts, generation, distribution, and hazards of coal mine dust and analyzes the characteristics, applicable conditions, and use effects of various dust control measures such as ventilation dust removal and wet dust removal. Moreover, this article also proposes specific prevention and control measures for related occupational diseases and discusses the development trend of dust prevention and control technology in the hope of providing guidance and reference for coal mine dust prevention and control.

scholarly journals Typical Cases of Groundwater Pollution and Control Strategies for Closed Coal Mine in China

2020 ◽  
Author(s):  
Qiyan Feng ◽  
Lai Zhou ◽  
Yongping Liang ◽  
Jianwei Zhou ◽  
Hujun Ren ◽  
...  
Keyword(s):  
Coal Mine ◽  
Mine Water ◽  
Groundwater Pollution ◽  
Prevention And Control ◽  
Coal Mines ◽  
Pollution Prevention ◽  
Mining Area ◽  
Water Infiltration ◽  
Geological Conditions ◽  
And Control

Abstract Due to the coal resource depletion, complicated geological conditions, and policy adjustment of China coal mine industry, a large number of coal mines have been closed and abandoned. The rebound of groundwater level will cause flooding of goaf and roadways after mine closure. The hydrogeological conditions change significantly as well. The pollutants will leach out, transform and transport which lead to pollution and increase risk to the groundwater system in the mining area. This research investigated closed coal mining area in Xuzhou, Zibo, Fengfeng, Kaili, Yangquan, Doulishan, Huaibei, Jiaozuo, Jingxing, Mile, etc., to present typical cases for analyzing the featured pollutants in mine water. Eight groundwater pollution pathways were summarized in closed coal mines, including pollution infiltration from surface mining fissures; submerged water infiltration pollution; leaching pollution of surface solid waste; cross strata pollution from the diversion fissure zone in the mining roof; cross strata pollution through the mining fissures in the mining floor; cross strata pollution through the water-conducting wells; cross strata pollution of faults or collapse columns; water overflow from goaf. Three typical cases on cross strata pollution in the closed/abandoned coal mine were analyzed emphatically. Aiming at the prevention and control of groundwater pollution risk in coal mine, the technical ideas of reducing quantity and pollutant of mine water, channel blocking, extraction control, purification and utilization are put forward. Based on this idea, the main pollution prevention and control technologies are recommended, and the countermeasures for the environmental protection of groundwater in closed mine are proposed.

A new visual/inertial integrated navigation algorithm based on sliding-window factor graph optimisation

2020 ◽  
pp. 1-17
Author(s):  
Haiying Liu ◽  
Jingqi Wang ◽  
Jianxin Feng ◽  
Xinyao Wang
Keyword(s):  
Kalman Filter ◽  
Extended Kalman Filter ◽  
Prior Information ◽  
Sliding Window ◽  
Factor Graph ◽  
Navigation Systems ◽  
Integrated Navigation ◽  
Sliding Windows ◽  
Navigation Algorithm ◽  
Almost All

Abstract Visual–Inertial Navigation Systems (VINS) plays an important role in many navigation applications. In order to improve the performance of VINS, a new visual/inertial integrated navigation method, named Sliding-Window Factor Graph optimised algorithm with Dynamic prior information (DSWFG), is proposed. To bound computational complexity, the algorithm limits the scale of data operations through sliding windows, and constructs the states to be optimised in the window with factor graph; at the same time, the prior information for sliding windows is set dynamically to maintain interframe constraints and ensure the accuracy of the state estimation after optimisation. First, the dynamic model of vehicle and the observation equation of VINS are introduced. Next, as a contrast, an Invariant Extended Kalman Filter (InEKF) is constructed. Then, the DSWFG algorithm is described in detail. Finally, based on the test data, the comparison experiments of Extended Kalman Filter (EKF), InEKF and DSWFG algorithms in different motion scenes are presented. The results show that the new method can achieve superior accuracy and stability in almost all motion scenes.

scholarly journals Single-Satellite Integrated Navigation Algorithm Based on Broadband LEO Constellation Communication Links

2021 ◽  
Vol 13 (4) ◽  
pp. 703
Author(s):  
Lvyang Ye ◽  
Yikang Yang ◽  
Xiaolun Jing ◽  
Jiangang Ma ◽  
Lingyu Deng ◽  
...  
Keyword(s):  
Real Time ◽  
Satellite Communication ◽  
The State ◽  
Earth Orbit ◽  
Integrated Navigation ◽  
Location Services ◽  
The Real ◽  
Navigation Algorithm ◽  
Communication Links ◽  
Leo Satellite

With the rapid development of satellite technology and the need to satisfy the increasing demand for location-based services, in challenging environments such as indoors, forests, and canyons, there is an urgent need to improve the position accuracy in these environments. However, traditional algorithms obtain the position solution through time redundancy in exchange for spatial redundancy, and they require continuous observations that cannot satisfy the real-time location services. In addition, they must also consider the clock bias between the satellite and receiver. Therefore, in this paper, we provide a single-satellite integrated navigation algorithm based on the elimination of clock bias for broadband low earth orbit (LEO) satellite communication links. First, we derive the principle of LEO satellite communication link clock bias elimination; then, we give the principle and process of the algorithm. Next, we model and analyze the error of the system. Subsequently, based on the unscented Kalman filter (UKF), we model the state vector and observation vector of our algorithm and give the state and observation equations. Finally, for different scenarios, we conduct qualitative and quantitative analysis through simulations, and the results show that, whether in an altimeter scenario or non-altimeter scenario, the performance indicators of our algorithm are significantly better than the inertial navigation system (INS), which can effectively overcome the divergence problem of INS; compared with the medium earth orbit (MEO) constellation, the navigation trajectory under the LEO constellation is closer to the real trajectory of the aircraft; and compared with the traditional algorithm, the accuracy of each item is improved by more than 95%. These results show that our algorithm not only significantly improves the position error, but also effectively suppresses the divergence of INS. The algorithm is more robust and can satisfy the requirements of cm-level real-time location services in challenging environments.

Research on outdoor AGV precise navigation based on BDS/INS data fusion

2021 ◽  
pp. 1-12
Author(s):  
Yongwei Tang ◽  
Huijuan Hao ◽  
Jun Zhou ◽  
Yuexiang Lin ◽  
Zhenzhen Dong
Keyword(s):  
Neural Network ◽  
Bp Neural Network ◽  
Navigation System ◽  
Integrated Navigation ◽  
Complex Environments ◽  
Assisted Navigation ◽  
Precise Control ◽  
Bee Colony ◽  
Navigation Algorithm ◽  
Navigation Error

AGV (Automated Guided Vehicle) technology has attracted increasing attention. Precise control of AGV position and attitude information in complex operating environment is a key part of smart factories. With outdoor AGV as a platform, this study uses BDS/INS combined navigation system combining Beidou positioning system and inertial navigation system and takes the velocity and position difference between BDS and INS as a model. An integrated navigation method is proposed to improve bee colony algorithm and optimize the BP neural network-assisted Kalman filtering to achieve accurate positioning. Moreover, the optimization of BP neural network navigation using INS navigation, network-assisted navigation and bee colony algorithm is simulated. Results demonstrate that the integrated navigation algorithm has effectiveness and feasibility, and can solve the problems of BDS misalignment and large INS navigation error in complex environments.

scholarly journals Discussion on Some Topical Issues of Water Prevention and Control in Coal Mines

2021 ◽  
Author(s):  
Shuning Dong ◽  
Wenzhong Zhang ◽  
Wanfang Zhou ◽  
Rui Chai ◽  
Hao Wang ◽  
...  
Keyword(s):  
Prevention And Control ◽  
Coal Mines ◽  
And Control
Sign in / Sign up

Export Citation Format

Share Document