Control of Rock Mechanics in Underground Ore Mining

Autonomous Control of an Underground Mining Vehicle

This paper examines the kinematics and control of a Load Haul Dump Vehicle used in underground mining operations. The aim of the work is to develop an autonomous guidance strategy. A linear, state-space, mathematical model of the vehicle is derived purely from geometric consideration of the vehicle and its desired path. Autonomous regulation of the vehicle is shown to be theoretically feasible ...

Iron Ore Rock Recognition Trials

Rock dusting considerations in underground coal mines

Rock dusting to prevent coal dust explosions has been in widespread use in U.S. underground coal mines since the early 1900s. Underground coal mining technology has changed significantly over this same time period, becoming highly mechanized and produces finer coal dust particles which are more explosive. Despite the advances in mining technology, mine-wide dust sampling practices have remained...

Electric LHDs in Underground Hard Rock Mining: A Cost/Benefit Analysis

Autonomous Control of Underground Mining Vehicles using Reactive Navigation

This paper describes how many of the navigation techniques developed by the robotics research community over the last decade may be applied to a class of underground mining vehicles (LHDs and haul trucks). We review the current state-of-the-art in this area and conclude that there are essentially two basic methods of navigation applicable. We describe an implementation of a reactive navigation ...