scholarly journals Solution of the Problem of Odometric Positioning of a Mining Machine under the Ground by Using a Kalman Filter

2021 ◽  
Vol 21 (2) ◽  
pp. 123-135
Author(s):  
I.M. Shevelev ◽  
◽  
A.V. Zatonskiy
Keyword(s):  
Kalman Filter ◽  
Simulation Model ◽  
Industrial Development ◽  
Mining Industry ◽  
Random Variable ◽  
Mining Machine ◽  
Technical Solution ◽  
New Approach ◽  
Processing Measurement ◽  
Noisy Measurements

In the modern mining industry, an urgent technical challenge is the introduction of automatic systems that provide orientation and positioning of mining machines during the development of industrial seams. There are several basic technologies used for positioning combines underground, but their scope is limited by various mining, geological and technological factors. In the conditions of industrial development of VKMKS seams, the vast majority of them are not suitable. Aim. To develop a new approach to the problem of odometric positioning of a mining machine under the ground, as well as to create a simulation model that allows with the required degree of accuracy to determine the current and predicted distance of the miner from the start of production in conditions of noisy measurements. Materials and methods. As a technical solution to the task, the use of BLE (Bluetooth Low Energy) technology is proposed: iBeacon beacons will be dropped in the direction of the combine's movement, and a sensor attached to the rear of the loading bunker will read the distance to the beacon. For simulation modeling of uncertainty during the movement of the combine, the hypothesis of the normal distribution of the speed of movement on sections of random length was considered. When simulating the dropping of the beacon, the hypothesis was used that the scattering value of the beacon upon falling is a two-dimensional normally distributed random variable. Noisy measurements were generated by a stochastic process with increasing scatter boundaries as the sensor moved away from the beacon. The Kalman filter was used as a tool for processing measurement noise. Results. A model has been created that simulates random speeds of the combine's movement on sections of random length, and also a random spread when throwing off Blue¬tooth beacons has been simulated. To generate sensor measurements, an algorithm has been deve¬loped that takes into account the increase in the noise level of the readings when moving away from the nearest dropped beacon. To process the simulated measurements and correctly determine the distance of the beacon-sensor, the Kalman filtering algorithm was used. Conclusion. The proposed approach and the created simulation model make it possible, with a given degree of accuracy, to determine and predict the distance to the withdrawing shearer when mining industrial seams.

Inter-country inequality as a dynamic process and the problem of post-industrial development

2018 ◽  
pp. 5-29 ◽  
Author(s):  
L. M. Grigoryev ◽  
V. A. Pavlyushina
Keyword(s):  
Economic Growth ◽  
Political Institutions ◽  
Industrial Development ◽  
Modern World ◽  
New Approach ◽  
Development Level ◽  
The World ◽  
Long Time ◽  
The Difference ◽  
Post Industrial

The phenomenon of economic growth is studied by economists and statisticians in various aspects for a long time. Economic theory is devoted to assessing factors of growth in the tradition of R. Solow, R. Barrow, W. Easterly and others. During the last quarter of the century, however, the institutionalists, namely D. North, D. Wallis, B. Weingast as well as D. Acemoglu and J. Robinson, have shown the complexity of the problem of development on the part of socioeconomic and political institutions. As a result, solving the problem of how economic growth affects inequality between countries has proved extremely difficult. The modern world is very diverse in terms of development level, and the article offers a new approach to the formation of the idea of stylized facts using cluster analysis. The existing statistics allows to estimate on a unified basis the level of GDP production by 174 countries of the world for 1992—2016. The article presents a structured picture of the world: the distribution of countries in seven clusters, different in levels of development. During the period under review, there was a strong per capita GDP growth in PPP in the middle of the distribution, poverty in various countries declined markedly. At the same time, in 1992—2016, the difference increased not only between rich and poor groups of countries, but also between clusters.

Colonialism and the Highland Clearances

2017 ◽  
Vol 8 (1) ◽  
pp. 22-48 ◽  
Author(s):  
Iain Mackinnon
Keyword(s):  
Industrial Development ◽  
Comparative Approach ◽  
Indigenous Research ◽  
Internal Colonialism ◽  
New Approach ◽  
A Site ◽  
Relationship Of ◽  
The Relationship ◽  
Imperial State ◽  
Late Modern

This article employs a new approach to studying internal colonialism in northern Scotland during the 18th and 19th centuries. A common approach to examining internal colonial situations within modern state territories is to compare characteristics of the internal colonial situation with attested attributes of external colonial relations. Although this article does not reject the comparative approach, it seeks to avoid criticisms that this approach can be misleading by demonstrating that promoters and managers of projects involving land use change, territorial dispossession and industrial development in the late modern Gàidhealtachd consistently conceived of their work as projects of colonization. It further argues that the new social, cultural and political structures these projects imposed on the area's indigenous population correspond to those found in other colonial situations, and that racist and racialist attitudes towards Gaels of the time are typical of those in colonial situations during the period. The article concludes that the late modern Gàidhealtachd has been a site of internal colonization where the relationship of domination between colonizer and colonized is complex, longstanding and occurring within the imperial state. In doing so it demonstrates that the history and present of the Gaels of Scotland belongs within the ambit of an emerging indigenous research paradigm.

A New Approach to Identify Big Rocks with Applications to the Mining Industry

2002 ◽  
Vol 8 (1) ◽  
pp. 1-9 ◽  
Author(s):  
Enrique Cabello ◽  
M.Araceli Sánchez ◽  
Javier Delgado
Keyword(s):  
Mining Industry ◽  
New Approach

scholarly journals A Review on "Mountain Shoria: From Ancient Metallurgy to Modern Mining Industry. Historical Essays" by A. I. Kopytov and V. M. Kimeev (Kemerovo: Primula, 2020. 432 p.)

2021 ◽  
Vol 22 (4) ◽  
pp. 916-920
Author(s):  
A. B. Konovalov
Keyword(s):  
Cultural Heritage ◽  
Indigenous People ◽  
Industrial Development ◽  
Scientific Research ◽  
Mining Industry ◽  
Present Review ◽  
Ancient Metallurgy

The review assesses the significance of A. I. Kopytov and V. M. Kimeev’s new monograph dedicated to the development of Mountain Shoria and its indigenous people – the Shor ethnos. The monograph describes the stages of the development of the Shor people, as well as the local administrative and territorial transformations. It gives a retrospective of Shoria as an object of scientific research and outlines the problem of the local industrial development. The authors assessed the prospects of museumification of the historical and cultural heritage. The present review compares A. I. Kopytov and V. M. Kimeev’s contribution to the study of Mountain Shoria with that of their predecessors and states the apparent value of the monograph.

scholarly journals Tracking: B

2021 ◽  
pp. 193-204
Author(s):  
Jean Walrand
Keyword(s):  
Kalman Filter ◽  
Nonlinear Systems ◽  
Extended Kalman Filter ◽  
Random Variable

AbstractIn Chapter Tracking: A, we explained the estimation of a random variable based on observations. We also described the Kalman filter and we gave a number of examples. In this chapter, we derive the Kalman filter and explain some of its properties. We also discuss the extended Kalman filter.Section 10.1 explains how to update an estimate as one makes additional observations. Section 10.2 derives the Kalman filter. The properties of the Kalman filter are explained in Sect. 10.3. Section 10.4 shows how the Kalman filter is extended to nonlinear systems.

scholarly journals Tracking—A

2021 ◽  
pp. 163-192
Author(s):  
Jean Walrand
Keyword(s):  
Kalman Filter ◽  
Linear Regression ◽  
Least Squares ◽  
Recursive Algorithm ◽  
Nonlinear Function ◽  
Random Variables ◽  
Random Variable ◽  
Linear Least Squares ◽  
Least Squares Estimate ◽  
Related Notion

AbstractThis chapter explains how to estimate an unobserved random variable or vector from available observations. This problem arises in many examples, as illustrated in Sect. 9.1. The basic problem is defined in Sect. 9.2. One commonly used approach is the linear least squares estimate explained in Sect. 9.3. A related notion is the linear regression covered in Sect. 9.4. Section 9.5 comments on the problem of overfitting. Sections 9.6 and 9.7 explain the minimum means squares estimate that may be a nonlinear function of the observations and the remarkable fact that it is linear for jointly Gaussian random variables. Section 9.8 is devoted to the Kalman filter, which is a recursive algorithm for calculating the linear least squares estimate of the state of a system given previous observations.

scholarly journals INVESTIGATION OF THE RANDOM VALUE STATISTICAL DISTRIBUTIONS MODELS CHOICE INFLUENCE ON THE MINING OPERATIONS MODELING RESULTS

2021 ◽  
Vol 21 (3) ◽  
pp. 130-137
Author(s):  
A.V. Zatonskiy ◽  
◽  
P.A. Yazev ◽  
Keyword(s):  
Simulation Model ◽  
Mining Machine ◽  
Statistical Distributions ◽  
Mining Operations ◽  
Stochastic Delay ◽  
Uniform Distributions ◽  
Potash Mining ◽  
Mining Enterprise ◽  
Stochastic Parameters ◽  
Similar Simulation

The importance of production planning for improving the performance indicators of a mining enterprise is indicated. The possibility of simulation modeling using for this aim is shown. It is shown that the created model has a large number of stochastic parameters. It is investigated that there is a problem of research lack about the choice influence of the mining modeling results with different statistical distributions. It is known that with an increase in stochastic deviations from the initial parameters, the productivity of queuing systems decreases. Purpose of work is to study this influence with four statistical distributions of a random quantity (uniform, normal, negative bi-nomial and Poisson distribution) for individual operations and their combinations. In addition, it is necessary to determine how much a change in one particular parameter will affect the overall result of the modeling. Materials and methods. In the previously created simulation model, a stochastic delay is added to the time of individual operations. The addition of such a delay with different sta-tistical distributions and with the same mathematical expectation is investigated. The simulation re-sults are compared with each other, for each individual operation the absolute and relative devia-tion of the results is shown. Further, a similar simulation is performed when all the simultaneously selected parameters changing. Result. It is shown that the magnitude of the deviation significantly differs among all deviations. It is shown that for various single changes in operations, the largest and smal-lest deviations can be given by different statistical distributions. To study the joint change with all parameters, 3 modeling scenarios are implemented: all uniform distributions (this case is used now), the scenario with the smallest deviation and the scenario with the largest deviation. It is shown that switching to another scenario leads to a significant change in the simulation. Conclusion. It is con-cluded that the used significant influence of statistical distributions choice to the accuracy of model-ing the operation of the mining machine is shown, especially when they are taken into account to-gether. The results can be used to clarify the influence of individual factors in the simulation model and improve the planning of potash mining operations, for individual mining machines too.

Hybrid filters and feedback mechanism for wearable-based human-manipulator interface

2015 ◽  
Vol 42 (5) ◽  
pp. 485-495 ◽  
Author(s):  
Ping Zhang ◽  
Bei Li ◽  
Guanglong Du
Keyword(s):  
Kalman Filter ◽  
Measurement Errors ◽  
Unscented Kalman Filter ◽  
Robot Manipulator ◽  
Experimental Studies ◽  
Feedback Mechanism ◽  
Content Type ◽  
System States ◽  
Noisy Measurements ◽  
Hybrid Filters

Purpose – This paper aims to develop a wearable-based human-manipulator interface which integrates the interval Kalman filter (IKF), unscented Kalman filter (UKF), over damping method (ODM) and adaptive multispace transformation (AMT) to perform immersive human-manipulator interaction by interacting the natural and continuous motion of the human operator’s hand with the robot manipulator. Design/methodology/approach – The interface requires that a wearable watch is tightly worn on the operator’s hand to track the continuous movements of the operator’s hand. Nevertheless, the measurement errors generated by the sensor error and tracking failure signicantly occur several times, which means that the measurement is not determined with sufficient accuracy. Due to this fact, IKF and UKF are used to compensate for the noisy and incomplete measurements, and ODM is established to eliminate the influence of the error signals like data jitter. Furthermore, to be subject to the inherent perceptive limitations of the human operator and the motor, AMT that focuses on a secondary treatment is also introduced. Findings – Experimental studies on the GOOGOL GRB3016 robot show that such a wearable-based interface that incorporates the feedback mechanism and hybrid filters can operate the robot manipulator more flexibly and advantageously even if the operator is nonprofessional; the feedback mechanism introduced here can successfully assist in improving the performance of the interface. Originality/value – The interface uses one wearable watch to simultaneously track the orientation and position of the operator’s hand; it is not only avoids problems of occlusion, identification and limited operating space, but also realizes a kind of two-way human-manipulator interaction, a feedback mechanism can be triggered in the watch to reflect the system states in real time. Furthermore, the interface gets rid of the synchronization question in posture estimation, as hybrid filters work independently to compensate the noisy measurements respectively.

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