Manipulator Trajectory Planning Method Of Anchor Drilling Robot,
2023
College of Mechanical Engineering, Xi’an University of Science and Technology, Xi’an 710054, China
Manipulator Trajectory Planning Method Of Anchor Drilling Robot, Lei Mengyu, Zhang Xuhui, Yang Wenjuan, Dong Zheng, Wan Jicheng, Zhang Chao, Du Yuyang
Coal Geology & Exploration
In order to improve the support efficiency of coal mine roadway and the automation intelligence of heading face, an anchor drilling robot integrating the cantilever roadheader and the six-degree-of-freedom manipulator was designed, and studied on the anchor drilling sequence planning strategy and the drilling boom trajectory planning method. Firstly, the kinematics model of the manipulator structure was established based on the improved DH method. On this basis, the forward and inverse kinematics solutions were analyzed, and the spatial position and the corresponding joint variable values of the drilling rig were calculated. Secondly, the manipulator space was analyzed based on Monte …
Effect Of Priming And Explosive Initiation Location On Pull In Hard Rock Underground Mine,
2023
Tummalapalle Mine, Uranium Corporation of India Ltd, AP, India
Effect Of Priming And Explosive Initiation Location On Pull In Hard Rock Underground Mine, K.K. Rao, B.S. Choudhary
Journal of Sustainable Mining
In the development of hard rock mines, achieving maximum pull after blasting plays a crucial role. Various machines have been developed for rock cutting, but still, due to flexibility and cost-effectiveness, drilling and blasting are preferred. To enhance the effectiveness of this method, several techniques have been developed, including the use of appropriate stemming material, double-primer placement, selecting optimal initiation locations, improving blast designs, and exploring stress superposition techniques through electronic detonators. This research paper focuses on investigating the effect of the priming and explosive initiation location on pull through an experimental approach. The study specifically examines the influence of …
What Caused The Unseasonal Extreme Dust Storm In Uzbekistan During November 2021?,
2023
Michigan Technological University
What Caused The Unseasonal Extreme Dust Storm In Uzbekistan During November 2021?, Xin Xi, Daniel Steinfeld, Steven M. Cavallo, Jun Wang, Jiquan Chen, Kanat Zulpykharov, Geoffrey M. Henebry
Michigan Tech Publications
An unseasonal dust storm hit large parts of Central Asia on 4-5 November 2021, setting records for the column aerosol burden and fine particulate concentration in Tashkent, Uzbekistan. The dust event originated from an agropastoral region in southern Kazakhstan, where the soil erodibility was enhanced by a prolonged agricultural drought resulting from La Niña-related precipitation deficit and persistent high atmospheric evaporative demand. The dust outbreak was triggered by sustained postfrontal northerly winds during an extreme cold air outbreak. The cold air and dust outbreaks were preceded by a chain of processes consisting of recurrent synoptic-scale transient Rossby wave packets over …
Semi-Supervised Learning Method For The Augmentation Of An Incomplete Image-Based Inventory Of Earthquake-Induced Soil Liquefaction Surface Effects,
2023
Tufts University
Semi-Supervised Learning Method For The Augmentation Of An Incomplete Image-Based Inventory Of Earthquake-Induced Soil Liquefaction Surface Effects, Adel Asadi, Laurie Gaskins Baise, Christina Sanon, Magaly Koch, Snehamoy Chatterjee, Babak Moaveni
Michigan Tech Publications
Soil liquefaction often occurs as a secondary hazard during earthquakes and can lead to significant structural and infrastructure damage. Liquefaction is most often documented through field reconnaissance and recorded as point locations. Complete liquefaction inventories across the impacted area are rare but valuable for developing empirical liquefaction prediction models. Remote sensing analysis can be used to rapidly produce the full spatial extent of liquefaction ejecta after an event to inform and supplement field investigations. Visually labeling liquefaction ejecta from remotely sensed imagery is time-consuming and prone to human error and inconsistency. This study uses a partially labeled liquefaction inventory created …
SIT Study Abroad
Litio En Una Encrucijada: Voces Locales Sobre La Reforma Constitucional Del Gobernador Morales Y Su Impacto En El Futuro De La Minería En Jujuy / Lithium At A Crossroads: Local Voices On Governor Morales’ Constitutional Reform And Its Impact On The Future Of Mining In Jujuy, Maxwell Bassin
Independent Study Project (ISP) Collection
En junio de 2023, el gobernador Morales de Jujuy aprobó un cambio en la constitución provincial rápidamente, sin consultar con las comunidades indígenas. Esta reforma prohíbe cortes de rutas, refuerza los derechos de propiedad privada y criminaliza muchas formas de protesta pública. Ahora, hay mucha crítica hacia la reforma, especialmente por parte de las comunidades indígenas y grupos ambientales que tienen miedo de que, sin la posibilidad de protestar, la minería del litio se expandirá en la provincia. Esta minería es peligrosa para las comunidades indígenas porque quiere minar en su tierra y requiere mucha agua aunque el clima de …
Observing Ocean Ecosystem Responses To Volcanic Ash,
2023
Oregon State University
Observing Ocean Ecosystem Responses To Volcanic Ash, K. M. Bisson, S. Gassó, N. Mahowald, S. Wagner, B. Koffman, S. A. Carn, S. Deutsch, E. Gazel, S. Kramer, N. Krotkov, C. Mitchell, M. E. Pritchard, K. Stamieszkin, C. Wilson
Michigan Tech Publications
Volcanic eruptions can be catastrophic events, particularly when they occur in inhabited coastal environments. They also play important roles in climate and biogeochemical cycles, including through nutrient deposition in the ocean. Volcanic ash studies in the ocean have focused on the phytoplankton response, generally quantifying changes in chlorophyll-a concentration. Many gaps remain in addressing fundamental questions regarding why volcanic ash deposition may enhance or limit both phytoplankton growth and/or drive community composition shifts. Here we outline a wide, multidisciplinary vision for monitoring volcanic eruptions near ocean ecosystems from satellites, including considerations for characteristics of airborne volcanic ash and ash geochemistry …
Open-Cast Mining Deformations Monitoring Using Sentinel-1 Sar Data (Sbas Technique),
2023
Ferdowsi University of Mashhad, Department of Geography, Mashhad, Iran
Open-Cast Mining Deformations Monitoring Using Sentinel-1 Sar Data (Sbas Technique), Mahvash Naddaf Sangani, Seyed Reza Hosseinzadeh, José Francisco Martín Duque, Mahnaz Jahadi Toroghi, Kapil Kumar Malik
Journal of Sustainable Mining
Land surface deformation created by mining activities can have negative impacts on the environment. Measuring them can be a tool for managing the environmental impacts of mining. Synthetic Aperture Radar Interferometry is a remote sensing method for measuring deformations. The main aim of this research is to investigate the deformation phenomenon on a region scale and extend our understanding of it to all mining deformation areas across the country. This paper used Small Baseline Subset Interferometric Synthetic Aperture Radar technology to obtain deformations information in the Sangan mine based on mining activities. We used 48 scenes of Single Look Complex(SLC) …
Numerical Modelling Of Uniaxial Compressive Strength Laboratory Tests,
2023
Central Mining Institute, Katowice, Poland
Numerical Modelling Of Uniaxial Compressive Strength Laboratory Tests, Phu Minh Vuong Nguyen, Andrzej Walentek, Petr Waclawik, Kamil Soucek, Michał Antoniuk
Journal of Sustainable Mining
In the last decades, numerical modelling has been widely used to simulate rock mass behaviour in geo-engineering issues. The only disadvantage of numerical modelling is the reliability of required input data (e.g. mechanical parameters), which is not always fully provided due to the complexity of rock mass, project budget, available test methods or human errors. On the other hand, it was proven in many cases that numerical modelling is a helpful tool for solving such complex problems, especially when coupled with the results of laboratory and in-situ tests. This paper presents an attempt to determine the proper numerical constitutive model …
Multi-Criteria Analysis Of The Possibility Of Retrofitting The System Of Rainwater Drainage From Subsidence Basins In A Liquidated Mine,
2023
Spółka Restrukturyzacji Kopalń S.A
Multi-Criteria Analysis Of The Possibility Of Retrofitting The System Of Rainwater Drainage From Subsidence Basins In A Liquidated Mine, Andrzej Chmiela, Małgorzata Wysocka, Adam Smoliński
Journal of Sustainable Mining
Mine closure is the natural final stage of mining activity. The process of financing mine liquidation is complex and expensive. The many years of conducted hard coal extraction affect the surface height differences. Analyses of the shifts in hydrogeological conditions and water hazard states in mining plants led to legal regulation adaptations, primarily in terms of hydrogeological documentation preparation, and made it necessary to conduct work concerning new options for water hazard assessment and prevention. Current subjects of particular interest include shifts in terrain morphology and the water regime, resulting in periodic flooding and permanent flooding of the most depressed …
Research On Three-Stage Automatic Hole Packer For Gas Extraction Drilling In Underground Coal Mine,
2023
China Coal Research Institute, Beijing 100013, China; China Coal Technology and Engineering Group Chongqing Research Institute, Chongqing 400039, China; State Key Laboratory of The Gas Disaster Detecting, Preventing and Emergency Controlling, Chongqing 400037, China
Research On Three-Stage Automatic Hole Packer For Gas Extraction Drilling In Underground Coal Mine, Wang Qingfeng, Shi Shuhan, Xin Dezhong, Chen Hang, Zhang Shitao
Coal Geology & Exploration
In view of the requirements of hole sealing during gas extraction drilling in underground coal mine for manual packer installation and sealing material injection, as well as the low automation level of hole sealing technology, a three-stage automatic hole packer for gas extraction drilling in underground coal mine was developed, with the appearance similar to the drill pipe. The hole packer could be mechanized into the drilling hole by an automatic drilling machine, and realize the automatic injection of sealing material. Herein, the Mooney-Rivlin hyperelastic constitutive model was used to represent the strain energy function by the finite element analysis …
Intelligent Optimization And Control Technology For Drilling Process Of Coal Mine Tunnels,
2023
CCTEG Xi’an Research Institute (Group) Co., Ltd., Xi’an 710077, China; China Coal Research Institute, Beijing 100013, China
Intelligent Optimization And Control Technology For Drilling Process Of Coal Mine Tunnels, Yao Ningping, Wu Min, Chen Luefeng, Lu Chengda, Fan Haipeng, Zhang Youzhen, Li Wangnian, Yao Ke
Coal Geology & Exploration
The harsh environment for drilling construction of coal mine tunnel, complex coal seam structure and complicated operation procedures can cause low drilling efficiency and high drilling cost. For this reason, it is imperative to carry out studies on the optimization and control technology for the drilling process of coal mine tunnel. Herein, study was conducted from intelligent identification of lithology of coal-bearing formation, intelligent optimization of drilling parameters and their intelligent control, focusing on the key technology for control of drilling process of coal mine tunnel. First, in order to accurately determine the type of coal-bearing formation, an intelligent identification …
Continuous And Discontinuous Numerical Simulation Of The Rock Breaking Process Of Pdc Drill Bit Under Composite Impact,
2023
School of Qilu Transportation, Shandong University, Jinan 250002, China
Continuous And Discontinuous Numerical Simulation Of The Rock Breaking Process Of Pdc Drill Bit Under Composite Impact, Qin Chengshuai, Sun Hongbin, Li Liping, Liu Xuegang, Liu Zhihui, Feng Chun, Sun Zizheng
Coal Geology & Exploration
Composite impact drilling is a novel rock-breaking technique that combines both axial and torsional impacts. To address the issues of complex failure mechanisms and unclear rock-breaking mechanisms under the axial-torsional impacts on rock by Polycrystalline Diamond Compact (PDC) drill bits, a FEM-DEM rock model based on shared nodes was established using the Continuous Discontinuous Element Method (CDEM), and the rationality of this computational model was verified through laboratory uniaxial compression experiments. Besides, a composite impact motion model for single drill bit was built through the secondary development of JavaScript, and the composite impact rock-breaking process of single PDC drill bit …
Application Of Intelligent Direct Push Measurement While Drilling Device For Environmental Geological Surveys,
2023
Key Laboratory of Metallogenic Prediction of Nonferrous Metals and Geological Environment Monitoring (Central South University), Ministry of Education, Changsha 410083, China; Key Laboratory of Non-Ferrous Resources and Geological Hazard Detection, Changsha 410083, China; School of Geosciences and Info Physics, Central South University, Changsha 410083, China
Application Of Intelligent Direct Push Measurement While Drilling Device For Environmental Geological Surveys, Sun Pinghe, Zhou Shengwei, Cao Han, Gao Qiang, Cheng Gongbi, Zhang Hui
Coal Geology & Exploration
In order to solve the technical challenges of inaccuracy and poor credibility of contaminant survey results due to the low accuracy of drilling trajectories in environmental geological surveys, the structural and functional characteristics of the existing direct-push drilling tools were analyzed. On this basis, the method of near-bit measurement while drilling using single-action combination was proposed. An intelligent measurement-while-drilling (MWD) device was developed, a laboratory platform monitoring module was established, a set of monitoring software was developed, and the stability and reliability of the intelligent MWD device was analysed. Then, verification tests have been carried out on the laboratory platforms …
Wear Law And Design Of Assembling Diamond Bit Based On Finite Element Analysis,
2023
School of Mechanical Engineering and Electronic Information, China University of Geosciences, Wuhan 430074, China
Wear Law And Design Of Assembling Diamond Bit Based On Finite Element Analysis, Yang Zhan, Tan Songcheng, Yang Kaihua, Fang Xiaohong
Coal Geology & Exploration
In addition to coring drilling, full (non-coring) drilling also occupies a large proportion in the energy exploration and development. Non-coring drilling can reduce the high time cost of lifting and lowering work required for coring, thereby increasing the net drilling time, improving the drilling efficiency and reducing the drilling costs. The traditional non-coring drill bits are prone to uneven wear on the bit surface during the drilling process. To identify and improve this law of uneven wear, it was herein proposed to use the assembling non-coring bit to improve the eccentric wear of bit. For this reason, numerical simulation analysis …
Table Of Contents,
2023
China Coal Technology and Engineering Group (CCTEG)
Attenuation Model And Law Of High-Frequency Drilling Fluid Pressure Wave,
2023
Research Institute of Petroleum Exploration and Development, Beijing 100083, China; CNPC Engineering Technology R & D Company Limited, Beijing 102200, China
Attenuation Model And Law Of High-Frequency Drilling Fluid Pressure Wave, Zhou Botao, Su Yinao, Wang Jiajin
Coal Geology & Exploration
The technology of transmitting high-frequency drilling fluid pressure wave information with high transmission rate. It is also one of the key technologies to achieve the automated and intelligent drilling. However, the field application of this technology is hindered by the substantial attenuation experienced by high-frequency drilling fluid pressure waves during the transmission process. Thus, exploring the attenuation characteristics of these waves is crucial for the development of high-speed transmission technology. Herein, it is assumed that the drilling fluid pressure is equivalent on the same section of drill string, and the flow rate of drilling fluid is radially distributed. On this …
Magnetic Beacon-Based Horizontal Directional Drilling Guidance Technology,
2023
College of Engineering and Technology, China University of Geosciences (Beijing), Beijing 100083, China; Key Laboratory of Deep Geological Drilling Technology, Ministry of Natural Resources, Beijing 100083, China
Magnetic Beacon-Based Horizontal Directional Drilling Guidance Technology, Zu Yutong, Wang Lu, Gong Da, Hu Yuanbiao
Coal Geology & Exploration
In order to solve the problems of existing horizontal directional drilling (HDD) guidance methods, including low measurement accuracy, shallow positioning distance, discontinuous measurement data and great interference by magnetic field, a magnetic beacon-based horizontal directional drilling guidance and positioning method was proposed to achieve the position and attitude measurement of HDD. Meanwhile, a measurement array based on the third-order magnetic gradient tensor was designed, which verifies through simulation that the method could eliminate the influence of the geomagnetic fields and achieve the position measurement. In order to improve the attitude measurement accuracy, the multisource data fusion was performed with MEMS …
Analysis On Motor Output Characteristics And Influencing Factors Of Oscillating Valve Mud Pulser,
2023
China Oilfield Services Limited Oilfield Technology Institute, Beijing 101149, China
Analysis On Motor Output Characteristics And Influencing Factors Of Oscillating Valve Mud Pulser, Qu Hanwu, Shang Jie, Lu Huatao, Wang Zhiming, Chen Kun
Coal Geology & Exploration
The oscillating valve pulser is a better choice for high-speed mud pulse transmission due to its capability of generating a higher frequency carrier. Great difficulties are brought to the research on the motor output characteristics due to the complex load moment and its numerous influencing factors during the operation. Using the dynamic balance equation for the motor operating in underground coal mine, the position angle and output current data of the oscillating valve motor under the Max Torque per Ampere (MTPA) control mode were obtained by measurement in the water cycle experiment. Then, the output torque and output power of …
Architecture Of Intelligent Service Platform For Drilling Based On Digital Twin,
2023
School of Mechanical and Electrical Engineering, Chengdu University of Technology, Chengdu 610059, China
Architecture Of Intelligent Service Platform For Drilling Based On Digital Twin, Jiang Jie, Huo Yuxiang, Zhang Haoxi, Yang Lanying, Tang Zhong, Li Qian
Coal Geology & Exploration
In view of the situation of unknown, complex and variable drilling objects and frequent drilling accidents during the geological drilling, a digital twin model system of geological drilling based on time series data was built with the digital twin technology, so as to meet the actual requirements of prediction while drilling, condition identification, drilling rate optimization and others. The monitored data of ground equipment, measurement-while-drilling and drilling process were decomposed into prior data, real-time data, delayed data and late data according to the time series. On this basis, these multi-source heterogeneous data were processed by the Internet of Things, characteristic …
Drilling Core Identification Based On Natural Image,
2023
Faculty of Engineering, China University of Geosciences, Wuhan 430074, China; National Center for International Research on Deep Earth Drilling and Resource Development, China University of Geosciences, Wuhan 430074, China
Drilling Core Identification Based On Natural Image, Gao Hui, Wu Zhenkun, Ke Yu, Tan Songcheng, He Siqi, Duan Longchen
Coal Geology & Exploration
The traditional on-site core identification and recording mainly rely on the experience of technicians, and there are many uncertain factors. Limited by the site conditions, using mobile phones or cameras to capture the natural images is the most convenient way to collect the core information. Therefore, it is necessary to study the feature information extraction technology of core image and apply it to the identification and prediction of core type and other information. Specifically, a large number of core samples were collected, the thin-section identification method was employed to determine the core types and names, and then the core images …
