Systematic convergence of nonlinear stochastic estimators on the Special Orthogonal Group SO(3)

This paper introduces two novel nonlinear stochastic attitude estimators developed on the Special Orthogonal Group with the tracking error of the normalized Euclidean distance meeting predefined transient and steady‐state characteristics. The tracking error is confined to initially start within a predetermined large set such that the transient performance is guaranteed to obey dynamically reducing boundaries and decrease smoothly and asymptotically to the origin in probability from almost any initial condition. The proposed estimators produce accurate attitude estimates with remarkable convergence properties using measurements obtained from low‐cost inertial measurement units. The estimators proposed in continuous form are complemented by their discrete versions for the implementation purposes. The simulation results illustrate the effectiveness and robustness of the proposed estimators against uncertain measurements and large initialization error, whether in continuous or discrete form.     

Conveyer-belt accidents in mining and metallurgy

The dynamic interaction between the mechanical and electrical drive parameters when damage suddenly appears in the mechanical part of a conveyer belt is investigated. The possibility of using the change in the motor’s electrical parameters as a diagnostic signal is assessed. A model for investigating the dynamic processes in the system consisting of the grid, the induction motor, and the conveyer belt is proposed. The grid and induction motor are described by a model of fourth-order state space, whose output is the torque at the motor shaft. The moments of inertia and pliability of the links between the elements in the mechanical part of the conveyer belt are determined. By gradually identifying the elements with the minimum moment of inertia and distributing their moments of inertia and pliabilities among the adjacent elements, we obtain a three-mass system simulating the mechanical part of the conveyer belt. This dynamic model is solved by means of Matlab Simulink software. The energy characteristics of the drive are determined in dynamic processes following a mechanical accident.     

Analysis of ventilation of working areas in thick gently dipping coalbeds

Advanced technologies and modern high-production machines for underground mining of thick gently dipping coal demand strict adherence to technological discipline, reduction in operational loss and selection of optimized ventilation modes. The authors analyze ventilation schemes used in working areas in thick gently dipping seams in order to reveal influence exerted by the schemes, methods and parameters of ventilation on distribution of air loss in mined-out areas.     

On Application of Carbon-Containing Electrode Materials in Technology of Electrospark Alloying: Part 1. Peculiarities of Coating Formation Using Electrospark Treatment of Titanium Alloy OT4-1

Electrospark treatment of OT4-1 titanium alloy was performed sequentially with a STIM-20N hard-alloy electrode (TiC–20% Ni) and carbon-containing material (graphite and carbon-based composite materials). Kinetics of the mass transfer of the hard-alloy electrode was studied. The cathode mass loss during the first minute of the treatment was established. The kinetics results were processed using the methods of mathematical statistics. The erosion resistance of the applied carbon-containing materials was determined. Phase composition and relief of the coatings formed were analyzed. It was found that the application of the carbon-containing material increases the content of refractory phases in the coatings. Increase in the time of the treatment using the carbon-containing materials decreases the roughness of the coatings.     

Assessment of Dam Overtopping Reliability using SUFI Based Overtopping Threshold Curve

Estimation of earth-fill dam height and dimension of spillway are strongly depend on accurate evaluation of dam overtopping reliability. Ideally, whole random and effective variables on overtopping should be considered for dam overtopping reliability assessment. However, taking into account all affecting random variables as well as overtopping reliability assessment using algorithms such as Monte Carlo (MC) could be excessively time consuming and impossible in some cases. In this study, new approach has been introduced as conditional reliability method and it has been tried to reduce the simulations time significantly by using combination of rainfall threshold theory, SUFI (Sequential Uncertainty Fitting) and MC methods. According two defined indexes, the obtain results shown, the relative error of new approach in computation of Jamishan dam overtopping reliability is less than 0.23%. Also, time saving in new method against to regular MC method is more than 87%. So, the new introduced method has more efficiency with acceptable accuracy for assessment of dam overtopping reliability. In addition, among hydrological and hydraulic uncertainties, hydrological uncertainties have more effect on overtopping reliability.