What localizes beneath: A metric multisensor localization and mapping system for autonomous underground mining vehicles

Robustly and accurately localizing vehicles in underground mines is particularly challenging due to the unavailability of GPS, variable and often poor lighting conditions, visual aliasing in long tunnels, and airborne dust and water. In this paper, we present a novel, infrastructure‐less, multisensor localization method for robust autonomous operation within underground mines. The proposed method integrates with existing mine site commissioning and operation procedures and includes both an offline map‐building process and an online localization algorithm. The approach combines the strengths of visual‐based place recognition, LIDAR‐based localization, and odometry in a particle filter fusion process. We provide an extensive experimental validation using new large data sets acquired in two operational Australian underground hard‐rock mines (including a 600m‐deep multilevel mine with approximately 33 km of mapping data and 7 km of vehicle localization) by actual mining vehicles during production operations. We demonstrate a significant increase in localization accuracy over prior state‐of‐the‐art SLAM research systems and real‐time operation, with processing times in the order of 10 Hz. We present results showing a mean error of 0.68 m from the Queensland Mine data set and 1.32 m from the New South Wales Mine data set and at least 86% reduction in error compared with prior state of the art. We also analyze the impact of the particle filter parameters with respect to localization accuracy. Together this study represents a new approach to positioning systems for currently deployed autonomous vehicles within underground mine environments.     

Correction to: Investigating Energy Flow in Water-Energy Storage for Hydropower Generation in Water Distribution Systems

Water Resources Management - The original version of this article unfortunately contains mistake introduced during the publishing process. The author name “M. Fayzul” should be deleted...     

Enhancement of the hydrogen storage properties of Mg/C nanocomposites prepared by reactive milling with molybdenum

The effect of Mo on the morphology, crystal structure and hydrogen sorption properties of Mg/C composites prepared by reactive milling was studied. Transmission electron microscopic(TEM) observation shows that Mg/C composites prepared with the addition of Mo are of nanoscale with particle size about 20-120 nm after 3 h of milling under 1 MPaH_2. MgH_2 of tetrahedral crystal structure predominates in the materials with the geometric shape of oblique hexagonal prism. From X-ray diffraction(XRD) and hydrogen content studies, Mo and crystallitic carbon have a synergistic effect on promoting the hydrogenation rate in the reactive milling process. From differential scanning calorimetric(DSC) studies, the dehydrogenation peak temperature of the Mg/C materials with Mo is lowered to 299-340 ℃.     

Reaction mechanism and microstructure evolution of reaction sintered <Emphasis Type="Italic">h</Emphasis>-BN

Hexagonal boron nitride ceramic (h-BN) based on the nitridation of B powders was obtained by reaction sintering method. The effects of sintering temperature on the mechanical properties and microstructure of the resultant products were investigated and the reaction mechanism was discussed. Results showed that the reaction between B and N₂ occurred vigorously at temperatures ranging from 1 000 °C to 1 300 °C, which resulted in the generation of t-BN. When the temperature exceeded 1 450 °C, transformation from t-BN to h-BN began to occur. As the sintering temperature increased, the spherical particles of t-BN gradually transformed into fine sheet particles of h-BN. These particles subsequently displayed a compact arrangement to achieve a more uniform microstructure, thereby increasing the strength.     

Numerical simulation of the multicomponent mass transfer during Bridgman growth of CdZnTe crystal using Maxwell-Stefan diffusion model

To reveal the complicated mechanism of the multicomponent mass transfer during the growth of ternary compound semiconductors, a numerical model based on Maxwell-Stefan equations was developed to simulate the Bridgman growth of CdZnTe crystal. The Maxwell-Stefan diffusion coefficients in the melt were estimated. Distributions of Zn, Cd, and Te were calculated with variable ampoule traveling rate and diffusion coefficients. The experimental results show that Zn in melt near the growth interface decreases and diffuses from the bulk melt to the growth interface. For Cd, the situation is just the opposite. The coupling effects of Zn and Cd diffusions result in an uphill diffusion of Te at the beginning of the growth. Throughout the growth, the concentration of Te in the melt keeps low near the growth interface but high far from the growth interface. Increasing the ampoule traveling rate will aggravate the segregation of Zn and Cd, and hence deteriorate the uniformity of Te. We also find that not only the diffusion coefficients but also the ratios between them have significant influence on the species diffusions.     

Diffusion characteristic of sulfate anion in surface region of cement mortar at early stage

The SO_4~(2-)concentration distributions in surface region of cement mortar immersed in sulfate solution at early stage were measured by layered sampling method combined with chemical analysis, and the diffusion coefficients of SO_4~(2-)anions in surface region of mortar into internal area were calculated by means of instantaneous plane diffusion theory. The experimental results showed that the SO_4~(2-)concentration gradually reduced when the diffusion depth increased in the surface region of mortar. Diffusion coefficient(D) was relevant with the concentration and kind of environmental sulfate solution, which reduced with immersion time at the beginning, and then rose slowly after a period of time. The calculation of initial diffusion coefficient(D_0) and starting time of deterioration(t_∞) caused by sulfate attack was further attempted based on the data of diffusion coefficient, and it was found that D_0 and t∞ were all relevant with concentrations of sulfate and different kind of sulfate as well.     

Effects of CaO and Na<Subscript>2</Subscript>CO<Subscript>3</Subscript> on the reduction of high silicon iron ores

The effects of CaO and Na₂CO₃ on the reduction of high silicon iron ores at 1 250 °C were studied. The experimental results showed that the metallization rate was significantly hindered by the addition of CaO and Na₂CO₃, particularly at the early stage of roasting, compared to the rate without additives. In the absence of additives, iron oxides were quickly reduced to metallic iron, and fayalite was difficult to form. When CaO and Na₂CO₃ were added, the low reducible iron-containing silicate compounds formed and melted, subsequently retarding the metallization process. The inhibition of Na₂CO₃ was more noticeable than that of CaO, and higher Na₂CO₃ doses resulted in stronger inhibition of the increased metallization rate. However, when Na₂CO₃ was added prior to CaO, the liquid phase formed, which facilitated the growth of the metallic phase. To reinforce the separation of the metallic phase and slag, an appropriate amount of liquid phase generated during the reduction is necessary. It was shown that when 10% CaO and 10% Na₂CO₃ were added, a high metallization rate and larger metallic iron particles were obtained, thus further decreasing the required Na₂CO₃ dosage.     

Mineralogy and thermal analysis of natural pozzolana opal shale with nano-pores

Thermodynamic stability, microvoid distribution and phases transformation of natural pozzolana opal shale(POS) were studied systematically in this work. XRD analysis showed that opal-CT, including microcrystal cristobalite and tridymite, is a major component of POS. DTA and FT-IR indicated that there were many hydroxyl groups and acid sites on the surface of amorphous SiO_2 materials. FE-SEM analysis exhibited amorphous SiO_2 particles(opal-A) covering over stacking sequences microcrystal cristobalite and tridymite. Meanwhile, MIP analysis demonstrated that porosity and pore size distribution of POS remained uniform below 600 ℃. Because stable porous microstructure is a key factor in improving photocatalyst activity, POS is suited to preparing highly active supported.     

Wear behavior of <Emphasis Type="Italic">in-situ</Emphasis> TiC particles reinforced aluminum matrix composite

The microstructure, tensile property and wear resistance of 7075 aluminum matrix composite reinforced with TiC particles prepared by in-situ reaction casting were investigated. The effect of TiC reinforcement on wear behavior was analyzed. The wear mechanism was also discussed. A micro-mechanism model of reaction kinetics for synthesis of TiC was acquired. Results show that TiC could increase the tensile and yield strength, but decrease the elongation. Besides, TiC particles improve the property of wear resistance of 7075 aluminum alloy. The wear mechanisms include abrasive wear and adhesive wear in wear test process.     

Solvothermal synthesis and electrochemical properties of octahedral cobalt oxide decorated with Ag<Subscript>2</Subscript>O

Octahedral CoO with nanostructures decorated with Ag nanoparticles was prepared via a facile solvothermal approach. After being annealed at 500 °C for 1 h, an electrochemical capacitor material of Co₃O₄ decorated with Ag₂O was obtained. The cyclic voltammetry and galvanostatic charge-discharge were used to evaluate the electrochemical properties of the as-prepared products. The results indicated that the as-prepared samples exhibited fine pseudo-capacitive performance, and the surface modifications of Ag₂O can significantly increase the capacitance of the Co₃O₄ material. The specific capacitance of Ag₂O/Co₃O₄ composite electrode was up to 217.6 F·g^?1, which was 3.35 times as high as that of pure Co₃O₄. Moreover, Ag₂O/Co₃O₄ composite showed an excellent cycle performance, and 65.3% of specific capacitance was maintained after 200 cycles.