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This paper is focused on underground mining. Uses four-wheel vehicles that minimizes curvature variation in the path it takes and stays in a certain safety margin from the mine walls. It presents a study that uses a B-spline for path determination. A B-spline (or basis spline) is a spline function. This means that the function can be reconstructed by connecting different polynomials. All possible spline functions can be reconstructed by connecting different B-spline functions. | This paper is focused on underground mining. Uses four-wheel vehicles that minimizes curvature variation in the path it takes and stays in a certain safety margin from the mine walls. It presents a study that uses a B-spline for path determination. A B-spline (or basis spline) is a spline function. This means that the function can be reconstructed by connecting different polynomials. All possible spline functions can be reconstructed by connecting different B-spline functions. | ||
https://ieeexplore.ieee.org/document/8741532 This paper focus lies on aerial robots in an underground mine. | |||
Revision as of 21:56, 8 February 2020
Problem Statement
One of the most important aspects of a space colony would be self-sustainability. Supplying a colony through space would be too expensive and resource heavy to sustain. This is why, in order to keep the colony up and running and be able to expand the colony it needs a way to collect materials and minerals. For this purpose we would like to research the possibilities for an autonomous mining robot that will search, collect and transport these materials and minerals for the colony. It needs to be able to navigate and move through the unknown lands of another planet, locate and mine the necessary materials and transport these back to the colony. For each task we need to research different possibilities and look for the best solution available.
Users
The users of these autonomous mining robots will be the space colony. This colony will entrust these robots with gathering materials for their building and renovation needs.
Objectives
The autonomous robot needs certain capabilities in order to function. These capabilities can be divided in:
- Navigation and movement
- Locating and mining materials
- Transporting materials
It also needs to have power in order to do these things.
In order to create such an autonomous mining robot all these capabilities need to be researched and should conclude in a solid solution to carry out these functions. Different possibilities for each capability should be analyzed and compared in order to gain the best inside.
Who will do what?
SotA
https://ieeexplore.ieee.org/abstract/document/4982555 This paper is focused on underground mining. Uses four-wheel vehicles that minimizes curvature variation in the path it takes and stays in a certain safety margin from the mine walls. It presents a study that uses a B-spline for path determination. A B-spline (or basis spline) is a spline function. This means that the function can be reconstructed by connecting different polynomials. All possible spline functions can be reconstructed by connecting different B-spline functions.
https://ieeexplore.ieee.org/document/8741532 This paper focus lies on aerial robots in an underground mine.
Locating and mining materials
https://ieeexplore.ieee.org/abstract/document/5980489 While not about robots, this paper presents the method of using a detailed world model of the geological structure of the ground in order to locate different ores in the ground. It uses different sensors across the mining area, which could be placed on a robot which moves around, in combination with a supervised learning algorithm to build this world model.
Transporting materials
Possible interesting papers
https://ieeexplore.ieee.org/document/262427/citations#citations
Zeph
Finn
Nick
Rik