Analysis of Interface and Screen for Ground Control System

This study is a preparation phase for visualization of utilized information using ergonomic user interface and standardization of elements for GCS (Ground Control System). Therefore, we investigated the instances of GCS (such as hawk and patriot missile’s GCS) for defense system. Based on the collected data, we compared and analyzed the GCS screen design. In this paper, we conduct case study for ergonomically development of GCS. It is expected that this research improves the situational awareness and reduces the user’s task load.

Ground demonstration system based on in-orbit assembly oriented manipulator flexible force control

To eliminate the load weight limit of carrier rockets and reduce the burden on support structures,in-orbit assembly is a key technology to make design of scattering a large diameter telescope into submirror modules,which requires smooth operation of assembly robots,and flexible force control technology is necessary. A ground demonstration system is presented for in-orbit assembly focusing on flexible force control. A six-dimensional force/torque sensor and its data acquisition system are used to compensate for gravity. For translation and rotation,an algorithm for flexible control is proposed. A ground transportation demonstration verifies accuracy and smoothness of flexible force control,and the transportation and assembly task is completed automatically. The proposed system is suitable for the development of in-orbit assembly robots.

Mechanical behaviors of coal measures and ground control technologies for China's deep coal mines-A review

This paper reviews the major achievements in terms of mechanical behaviors of coal measures,mining stress distribution characteristics and ground control in China’s deep underground coal mining.The three main aspects of this review are coal measure mechanics,mining disturbance mechanics,and rock support mechanics.Previous studies related to these three topics are reviewed,including the geo-mechanical properties of coal measures,distribution and evolution characteristics of mining-induced stresses,evolution characteristics of mining-induced structures,and principles and technologies of ground control in both deep roadways and longwall faces.A discussion is made to explain the structural and mechanical properties of coal measures in China’s deep coal mining practices,the types and dis-tribution characteristics of in situ stresses in underground coal mines,and the distribution of mining-induced stress that forms under different geological and engineering conditions.The theory of pre-tensioned rock bolting has been proved to be suitable for ground control of deep underground coal roadways.The use of combined ground control technology(e.g.ground support,rock mass modification,and destressing)has been demonstrated to be an effective measure for rock control of deep roadways.The developed hydraulic shields for 1000 m deep ultra-long working face can effectively improve the stability of surrounding rocks and mining efficiency in the longwall face.The ground control challenges in deep underground coal mines in China are discussed,and further research is recommended in terms of theory and technology for ground control in deep roadways and longwall faces.

Fundamentals of modern ground control management in Australian underground coal mines

Underground coal mining is inherently hazardous,with uncontrolled ground failure regarded as one of only several critical risks for multiple fatality events.Development,implementation and management of overarching systems and procedures for maintaining strata control is an important step to mitigating the impact of ground failure hazards at a mine site operational level.This paper summarised the typical pro-active ground control management system(PGCMS)implemented in various Australian underground coal mines.Australia produces approximately 100 million tonnes a year of metallurgical and thermal coal from approximately 30 of the world’s safest longwall mines operating in New South Wales and Queensland.The increased longwall productivity required to achieve both high levels of safety and profitability,places significant emphasis on the reliability of pro-active ground control management for longwall mining operations.Increased depths,adverse geological conditions,elevated variable stress regimes and weaker ground conditions,coupled with an industry wide need for increased development rates continue to make ground control management challenging.Ground control management is not only about ground support and pillar design though but also a structured process that requires a coordinated effort from all levels of the workforce to both minimise the occurrence of adverse geotechnical events and mitigate the potential risks when they do occur.The PGCMS presented in this paper is proven to provide both a safer and more productive mine environment through minimisation of unplanned delays.The critical elements of the method are presented in detail and demonstrate the utility and value of a ground control management system that has potential for implementation in underground coal mining globally.

Geotechnical characterization of red shale and its indication for ground control in deep underground mining

Geotechnical properties of red shale encountered in deep underground mining were characterized on both laboratory and field scale to reveal its unfavorably in geoenvironment.Its constituents,microstructure,strength properties and water-weakening properties were investigated.In situ stress environment and mining-induced fractured damage zone after excavation were studied to reveal the instability mechanism.The results show that red shale contains swelling and loose clayey minerals as interstitial filling material,producing low shear strength of microstructure and making it vulnerable to water.Macroscopically,a U-shaped curve of uniaxial compressive strength(UCS)exists with the increase of the angle between macro weakness plane and the horizon.However,its tensile strength reduced monotonically with this angle.While immersed in water for72h,its UCS reduced by91.9%comparing to the natural state.Field sonic tests reveal that an asymmetrical geometrical profile of fractured damage zone of gateroad was identified due to geological bedding plane and detailed gateroad layout with regards to the direction of major principle stress.Therefore,red shale is a kind of engineering soft rock.For ground control in underground mining or similar applications,water inflow within several hours of excavation must strictly be prevented and energy adsorbing rock bolt is recommended,especially in large deformation part of gateroad.

Preventing roof fall fatalities during pillar recovery:A ground control success story

For decades, pillar recovery accounted for a quarter of all roof fall fatalities in underground coal mines.Studies showed that a miner on a pillar recovery section was at least three times more likely to be killed by a roof fall than other coal miners. Since 2007, however, there has been just one fatal roof fall on a pillar line. This paper describes the process that resulted in this historic achievement. It covers both the key research findings and the ways in which those insights, beginning in the early 2000 s, were implemented in mining practice. One key finding was that safe pillar recovery requires both global and local stability.Global stability is addressed primarily through proper pillar design, and became a major focus after the2007 Crandall Canyon mine disaster. But the most significant improvements resulted from detailed studies that showed that local stability, defined as roof control in the immediate work area, could be achieved with three interventions:(1) leaving an engineered final stump, rather than extracting the entire pillar,(2) enhancing roof bolt support, particularly in intersections, and(3) increasing the use of mobile roof supports(MRS). A final component was an emphasis on better management of pillar recovery operations.This included a focus on worker positioning, as well as on the pillar and lift sequences, MRS operations,and hazard identification. As retreat mines have incorporated these elements into their roof control plans,it has become clear that pillar recovery is not ‘‘inherently unsafe." The paper concludes with a discussion of the challenges that remain, including the problems of rib falls and coal bursts.

An operational approach to ground control in deep mines

As mines go deeper and get larger,mine designs become more fragile largely due to the response of the rock mass to mining.Ground control and rock support become important levers in the mine construction schedule,production performance,and excavation health.For example,in cave mines,the production footprint together with associated mine infrastructure are significant investments in a modern caving operation.This investment must be protected and maintained to reduce the risk of ground-related production disruptions.It is necessary to preserve the health of these excavations and their maintenance through an effective rock support design.Rock support thus becomes a strategic element in asset management.This article focuses on support design for brittle ground when displacements induced by stress-fracturing consume much of the support’s capacity.It deals with the functionality of the support in deforming ground.Several interlinked concepts are important when assessing excavation health.Designs must not only account for load equilibrium but also for deformation compatibility and capacity consumption.Most importantly,the support’s displacement capacity is being consumed when the rock mass is deformed after support installation.Hence,it is necessary to design for the support capacity remaining at the time when the support is needed.If support capacity can be consumed,it can also be restored by means of preventive support maintenance(PSM).This concept for cost-effective ground control is introduced and illustrated on operational evidence.Furthermore,how design can impact construction costs and schedule are discussed.Support is installed to provide a safe environment and preserve an operationally functional excavation.It also must assure senior management that investments in high quality support and its maintenance will substantially reduce delays and with it,costs.It is demonstrated that the use of‘gabion-like’support systems can achieve these goals.A technical summary of the‘gabion panel’support system design is presented.

Analysis of Design Directions for Ground Control Station (GCS)

This study is a preparation phase for integrated visualization of battlefield situation. To develop the ground control station for unmanned systems, many factors have to be considered from the design stages, such as layout, information component, representation scheme, and human operation methods. Considering such many factors can be very difficult, hence we conducted an in-depth investigation of design factors from major UAV stations around the world. We analyzed the design characteristics and the specifics. In conclusion, we were able to derive some common aspects of design characteristics, which lead to the successful design approach.

An updated empirical model for ground control in U.S.multiseam coal mines

Multiple seam interactions are a major source of ground instability in several U.S.coalfields.Empirical methods are well suited for this problem,because while the mechanics multiple seam interactions are very complex and poorly understood,many mining case histories are available for analysis.This study makes use of an updated database that includes 356 multiseam case histories,including 67 unsuccessful designs.The paper describes in detail the process used to design the study,collect the data,conduct the statistical analysis,and develop the quantitative model.The model can be used for mine planning in multiple seam situations,and has been made available as a module within the Analysis of Coal Pillar Stability(ACPS)computer program.

Development of ground control station and path planning for autonomous MUAV

For autonomous MUAV,the Ground Control Station(GCS)including hardware and modular software programming such as control modular,navigation modular,display modular and monitor modular becomes important equipment to be developed.This paper emphasizes the global planning and the local replanning arithmetic based on three-dimensional velocity potential field for the moving threats.During the test on the ground and in the sky,GCS show the remote sensing information precisely and send the control command in time.The system can be used to assist in the function of autonomous complex task for MUAV.

Design of Ground Control Station for Operation of Multiple Combat Entities

Recently, if you look at the trend of the Unmanned Combat Entities (UCE) on the world that are actually operational, a large number of personnel per one UCE has been operating the GCS. However, UCEs to perform the attack/reconnaissance mission are very expensive assets and require a considerable amount of time to train for UCE operations. Accordingly, the future battlefield environment has become important to develop multiple UCE ground control station. In this study, we developed a multiple UCE GCS that one operator can operate up to four UCEs. The software was built with a total of 6 displays using a Lockheed Martin Corporation’s prepar3D. Scenario of research takes into account the operation of the South Korea-type future multiple UCEs, to take advantage of the simulation system, in this paper, we propose for each of the concepts and technologies.

Shallow Tunneling Method and Control Measure for Ground Surface Settlement

In order to ensure that the tunnel deformation and surface settlement are controlled within the allowable range during the construction process,the design unit has compiled technical measures and monitoring schemes for ground settlement control of this project.Based on the example of a shallow tunneling project on Subway line 8,this paper analyzes and discusses the shallow tunneling method in detail and puts forward corresponding technical measures for ground settlement control.

Research on an Urban Traffic Control System Based on DGPS

The basic principles of GPS (Global Positioning System) and DGPS (Differential GPS) are described. The principle and structure of vehicle navigation systems, and its application to the urban traffic flow guidance are analyzed. Then, an area coordinated adaptive control system based on DGPS and a traffic flow guidance information system based on DGPS are put forward, and their working principles and functions are researched. This is to provides a new way for the development of urban road traffic control systems.

Radon bearing water protection in underground uranium mining--A case study

High pressure, radon bearing water has been identified as one of the most critical challenges in mining the high-grade uranium deposit at the Mc Arthur River Operation, Cameco Corporation. The ore deposits are located between 490 and 640 m below the surface and surrounded by water bearing Athabasca sandstone, a graphitic P2 fault zone, and highly altered ground. This paper introduces the inflow risk management program at Mc Arthur River Operation, which includes various hydrogeological challenges and the corresponding strategies applied, such as risk-based probe and grout programs(geological, hydrogeological, and geotechnical), ground freezing programs, and comprehensive ground control programs. These programs have been developed, tested, and proven successful over years of mining practices. Working with this world class deposit of high risk and low tolerance, it is believed that these experiences might be beneficial to other mining operations with similar hydrogeological characteristics.

LiDAR mapping of ground damage in a heading re-orientation case study

The Subtropolis Mine is a room-and-pillar mine extracting the Vanport limestone near Petersburg,Ohio,U.S.In February of 2018,mine management began implementing a heading re-orientation to better control the negative effects of excessive levels of horizontal stress.The conditions in the headings improved,but as expected,stress-related damage concentrated within crosscuts.The mine operator has worked to lessen the impact of the instabilities in the outby crosscuts by implementing several engineering controls.With the implementation of each control,conditions were monitored and analyzed using observational and measurement techniques including 3D LiDAR surveys.Since the heading re-orientation,several 3D LiDAR surveys have been conducted and analyzed by researchers from the National Institute for Occupational Safety and Health(NIOSH).This study examines(1)the characteristics of each 3D LiDAR survey,(2)the change in the detailed strata conditions in response to stress concentrations,and(3)the change detection techniques between 3D LiDAR surveys to assess entry stability.Ultimately,the 3D LiDAR surveys proved to be a useful tool for characterizing ground instability and assessing the effectiveness of the engineering controls used in the heading re-orientation at the Subtropolis Mine.

Unanticipated multiple seam stresses from pillar systems behaving as pseudo gob–case histories

Underground coal mining in the U.S. is conducted in numerous regions where previous workings exist above and/or below an actively mined seam. Miners know that overlying or underlying fully extracted coal areas, also known as gob regions, can result in abutment stresses that affect the active mining. If there was no full extraction, and the past mining consists entirely of intact pillars, the stresses on the active seam are usually minimal. However, experience has shown that in some situations there has been sufficient yielding in overlying or underlying pillar systems to cause stress transfer to the adjoining larger pillars or barriers, which in turn, transfer significant stresses onto the workings of the active seam. In other words, the overlying or underlying pillar system behaves as a ‘‘pseudo gob." The presence of a pseudo gob is often unexpected, and the consequences can be severe. This paper presents several case histories, summarized briefly below, that illustrate pseudo gob phenomenon:(1) pillar rib degradation at a West Virginia mine at 335 m depth that contributed to a rib roll fatality,(2) pillar rib deterioration at a Western Kentucky mine at 175 m depth that required pillar size adjustment and installation of supplemental bolting,(3) roof deterioration at an eastern Kentucky mine at 400 m depth that stopped mine advance and required redirecting the section development,(4) coal burst on development at an eastern Kentucky mine at 520 m depth that had no nearby pillar recovery, and(5) coal burst on development at a West Virginia mine at the relatively shallow depth of 335 m that also had no nearby pillar recovery. The paper provides guidance so that when an operation encounters a potential pseudo gob stress interaction the hazard can be mitigated based on an understanding of the mechanism encountered.

Failure analysis and control measures of deep roadway with composite roof:a case study

There is great variation in the lithology and lamination thickness of composite roof in coal-measure strata;thus,the roof is prone to delamination and falling,and it is difficult to control the surrounding rock when developing roadway in such rock strata.In deep mining,the stress environment of surrounding rock is complex,and the mechanical response of the rock mass is different from that of the shallow rock mass.For composite-roof roadway excavated in deep rock mass,the key to safe and efficient production of the mine is ensuring the stability of the roadway.The present paper obtains typical failure characteristics and deformation and failure mechanisms of composite-roof roadway with a buried depth of 650 m at Zhaozhuang Coal Mine(Shanxi Province,China).On the basis of determining a reasonable cross-section shape of the roadway and according to the failure characteristics of the composite roof in different regions,the roof is divided into an unstable layer,metastable layer,and stable layer.The controlled unstable layer and metastable layer are regarded as a small structure while the stable layer is regarded as a large structure.A superimposed coupling support technology of large and small structures with a multi-level prestressed bearing arch formed by strong rebar bolts and highly prestressed cable bolts is put forward.The support technology provides good application results in the field.The study thus provides theoretical support and technical guidance for ground control under similar geological conditions.

基于图和流体扰动算法的多无人车编队及避障研究

为解决多无人车编队在存在运动目标、移动威胁与突发威胁等多种情况的复杂环境中的避障问题,设计了一种基于刚性图论和流体扰动算法的多无人车编队避障控制算法。首先,针对编队控制问题,采用图论方法描述多无人车之间的协同关系,利用无人车之间的距离约束,基于反步控制理论设计领航-跟随编队控制器。李雅普诺夫分析表明,期望的编队形状是渐近稳定的。其次,针对复杂动态障碍物环境下的编队避障问题,设计了基于流体扰动算法的避障路径规划方法,由领航无人车规划出编队的行驶路径,实现编队的整体避障。最后,基于MATLAB的仿真结果验证了所提算法的有效性。

Study on the Scope of Small Amplitude of Cloud-to-ground Lightning in Lightning Weather Monitoring

Based on lightning location data in Chongqing region during 1999-2008,the frequency of lightning in various amplitude ranges and its annual variations were analyzed firstly.Afterwards,with the aid of matlab mathematical software,the distribution of the lightning location data was fitted using logarithmic normal distribution function.The results showed that after data of cloud-to-ground lightning with current amplitude from-5 to5 kA were deleted from lightning location data,the statistical characteristics of cloud-to-ground lightning could be reflected well.Meanwhile,lightning with current amplitude from-5 to 5 kA accounted for 1.05%（less than 2%）,which accorded with the detection principle of lightning position indicator（there existed error detection）.Therefore,cloud-to-ground lightning with current amplitude of-5-5 kA in lightning location data of Chongqing region was defined as small amplitude of cloud-to-ground lightning,which could provide scientific references for the processing of lightning location data in Chongqing region as well as analysis and quality control of lightning location data in other regions.

基于人工智能的航天地面管控系统设计与实现

随着航天技术的不断发展和航天任务的增多,航天地面管控系统在航天活动中扮演着至关重要的角色。传统的地面管控系统往往存在一些局限性,如人力资源有限、响应速度较慢等。而人工智能技术的快速发展为航天地面管控系统的设计与实现提供了新的思路和方法。文章旨在提出一种基于人工智能的航天地面管控系统设计方案,并详细讨论其实现过程。