The localization for mine rescue robot in unknown space of coal mine emer- gency was researched,basing on the requirement of mine rescue robot localization which enters the scene of the coal mine accident,unknown circ...The localization for mine rescue robot in unknown space of coal mine emer- gency was researched,basing on the requirement of mine rescue robot localization which enters the scene of the coal mine accident,unknown circumstance,the unstructured, non-Gaussian and nonlinear work-space for robot works.The localization using particle filter was proposed to which is applied in mine rescue robot in unknown under-ground space.Meanwhile,focusing on severe particle sample degeneracy in the primary particle filter,an improved particle filter was proposed to reinforce the stability of particle filter.Be- ing compared with localization using extended Kalman filter through simulation experiment the localization using particle filter is proved to have more locating accuracy in unknown underground space and better computational real-time ability,which solves the pre-local- ization problem of robot underground.展开更多
Several high-profile coal mining accidents since 2006 that killed 27 coal miners have prompted the passing of the Mine Improvement and New Emergency Response Act of 2006 (MINER Act) which was signed into law in 2006,a...Several high-profile coal mining accidents since 2006 that killed 27 coal miners have prompted the passing of the Mine Improvement and New Emergency Response Act of 2006 (MINER Act) which was signed into law in 2006,and the proposed S-MINER Act of 2007,which passed the House of Representative in early 2008.The four coal mining accidents are described that are believed to be responsible for both the MINER Act and proposed S-MINER Act,and their potential impacts on the U.S.mining industry.展开更多
基金the National Natural Science Foundation of China(50674075)
文摘The localization for mine rescue robot in unknown space of coal mine emer- gency was researched,basing on the requirement of mine rescue robot localization which enters the scene of the coal mine accident,unknown circumstance,the unstructured, non-Gaussian and nonlinear work-space for robot works.The localization using particle filter was proposed to which is applied in mine rescue robot in unknown under-ground space.Meanwhile,focusing on severe particle sample degeneracy in the primary particle filter,an improved particle filter was proposed to reinforce the stability of particle filter.Be- ing compared with localization using extended Kalman filter through simulation experiment the localization using particle filter is proved to have more locating accuracy in unknown underground space and better computational real-time ability,which solves the pre-local- ization problem of robot underground.
文摘Several high-profile coal mining accidents since 2006 that killed 27 coal miners have prompted the passing of the Mine Improvement and New Emergency Response Act of 2006 (MINER Act) which was signed into law in 2006,and the proposed S-MINER Act of 2007,which passed the House of Representative in early 2008.The four coal mining accidents are described that are believed to be responsible for both the MINER Act and proposed S-MINER Act,and their potential impacts on the U.S.mining industry.
