Madencilik işlemlerinde robotların kullanılabilirliğinin araştırılması

Öz

Gelişen teknoloji ile birlikte mobil robotlar, çeşitli alanlarda etkileyici ilerlemeler sağlamıştır. İnsanlık açısından en yorucu ve potansiyel olarak tehlikeli çalışma ortamlarından olan madenlerde mobil robotların bu ilerlemesinden etkilenecektir. Şöyle ki, madencilik sektöründe madencilere yardımcı olarak hareket eden veya yeraltında konuşlandırılan tüm insan personelini değiştiren robotlarla daha yüksek bir otomasyon derecesi, madencilik maliyetlerini önemli ölçüde azaltmaya yardımcı olabilir. Afet durumlarında, kurtarma robotları kayıp personelin bulunmasına yardımcı olabilir. Yalnızca robotlar tarafından işletilen insansız makineler, insan hayatını hiçbir şekilde tehlikeye atmaz. Yapılan bu çalışmada yeraltı madenlerinde kurtarma, haritalama veya aktif çalışma amacı ile üretilebilecek robotlarda denge probleminin çözülmesi amaçlanmıştır. Yeni nesil Jiroskop kullanılarak üretilecek robotların her koşulda dengede kalması ve verilen görevi sağlıklı bir şekilde yapabilmesi amaçlanmıştır.

Anahtar Kelimeler

• Açık İşletme
• Denge
• İki Tekerlekli Robot
• Yeni Nesil Jiroskop
• Yeraltı Madenciliği

Investigation of the usability of robots in mining operations

Öz

With the developing technology, mobile robots have made impressive progress in various fields. Mines, one of the most tiring and potentially dangerous working environments for humanity, will be affected by this advance of mobile robots. Namely, with the robots that can replace the underground personnel in the mining sector, occupational accidents and costs can be significantly reduced. In disaster situations, rescue robots can help locate missing personnel. Unmanned machines operated only by robots do not endanger human life in any way. In this study, it is aimed to solve the balance problem in robots that can be produced for rescue, mapping or active working in underground mines. It is aimed that the robots to be produced using the new generation gyroscope will remain in balance under all conditions and be able to perform the given task in a healthy way.

Anahtar Kelimeler

• Surface Mine
• Balance
• Two Wheeled Robot
• Next Generation Gyroscope
• Underground Mining

Kaynakça

1. Chen J, Ye P, Sun H, et al. (2016). Design and motion control of a spherical robot with control moment gyroscope, IEEE International Conference on Systems and Informatics, Shanghai, China, 19 – 21 November 2016, 144–120.
2. Defendini A, Faucheux P, Guay P, et al. (2003). Control Moment GYRO CMG 15-45 S: a compact CMG product for agile satellites in the one ton class”, 10th European space mechanisms and tribology symposium, San Sebastián, Spain, 25 September 2003, 524; pp.27–31. ESA.
3. Deniz, Mamurekl, Cumhur, Aydın, Hacı, Deveci, Ali Tolga Sönmez, (1996). Robotics Control in Mining, Madencilik,3-18, 35, 2. Grasser, F., Arrigo AD and Colombi S. (2002). JOE: A mobile, inverted pendulum, IEEE Transactions on Industrial Electronics, 49(1), 107–114.
4. Hosoda, Y, Egawa S, Tamamoto J, et al. (2006). Basic design of human-symbiotic robot EMIEW, International Conference on Intelligent Robots and Systems, Beijing, China, 9-15 October 2006, pp. 5079–5084.
5. Imtiaz, MA, Naveed M, Bibi N, et al. (2018). Control System Design, Analysis & Implementation of Two Wheeled Self Balancing Robot, 9th Annual Information Technology, Electronics and Mobile Communication Conference, Vancouver, Canada, 1-3 November, pp.1-6.
6. Irdayanti Y, Kusumanto RD, Anisah M, et al. (2020). Ultrasonic Sensor Application As A Performance Enhancement of Robot Two Wheels, J. Phys.: Conf. Ser. 1500 (012007).
7. Jeremy Green, (2013). Mine Rescue Robots Requirements Outcomes from an industry workshop, 2013 6th Robotics and Mechatronics Conference (RobMech) Durban, South Africa, October 30-31, 2013
8. Korayem MH, and Gariblu H 2003. “Maximum Allowable Load on Wheeled Mobile Manipulators Imposing Redundancy Constrains”, Robotics and Autonomous Systems, 44, 151-159.

9. Korayem MH, and Gariblu H 2004. “Analysis of Wheeled Mobile Flexible Manipulator Dynamic Motions with Maximum Load Carrying Capacities”, Robotics and Autonomous Systems, 48(2-3): 63-76.
10. Korayem MH, Azimi V, Vatanjou H, and Korayem AH 2012. “Maximum load determination of nonholonomic mobile manipulator using hierarchical optimal control”, Robotica, 30 (1), 53-65.
11. Korayem MH, Azimirad V, Nikoobin A, and Boroujeni Z 2010. “Maximum Allowable Load of autonomous mobile manipulator in environment with obstacle considering tip over stability”, International Journal of Advanced Manufacturing Technology 46(5-8), 811-829.
12. Külekçi, G., Çullu, M., Yılmaz, A.O. (2018). Environmental problems to be created in mining procedures and measures to be taken example of a quarry dust emission, 4th EurAsia Waste Management Symposium, EurAsia2018, 319-327.
13. Külekçi, G., Yilmaz A.O., (2017). Investigation of Trabzon Volcanilities Usable as External Covering, MSU Journal of Science, 5 (2), 459-464.
14. Larimi SR, Zarafshan P, and Moosavian SAA 2015. “A new stabilization algorithm for a two-wheeled mobile robot aided by reaction wheel”, Journal of Dynamic Systems, Measurement, and Control 137(1), 011009 (8 pages)
15. Li Z and Li S 2021. “Saturated PI Control for Nonlinear System With Provable Convergence: An Optimization Perspective”, IEEE Transactions on Circuits and Systems II: Express Briefs, 68(2), 742-746.
16. Li Z, Li C, Li S, and Cao X 2020. “A Fault-Tolerant Method for Motion Planning of Industrial Redundant Manipulator” IEEE Transactions on Industrial Informatics, 16(12), 7469–7478.
17. Lin SC, Tsai CC and Huang HC 2011. “Adaptive robust self-balancing and steering of a two-wheeled human transportation vehicle”, J Intell Robot Syst, 62(1), 103–123.
18. M S Nikitenko, Yu V Malakhov, Biswarup Neogi, Pritam Chakraborty and Dipesu Banerjee,2017. Robotic complex for the development of thick steeply-inclined coal seams and ore deposits IOP Conf. Series: Earth and Environmental Science 84 (2017) 012002 do i :10.1088/1755-1315/84/1/012002
19. Mahvan A and Akbarzadeh A 2015. “Gyro stabilized two-wheeled inverted pendulum robot”, Proceedings of the 3rd RSI International Conference on Robotics and Mechatronics, Tehran, Iran, 7-9 October 2015, pp. 669–674. IEEE.
20. Menggang Li , Hua Zhu, Shaoze You, Leı Wang, and Chaoquan Tang 2019. Efficient Laser-Based 3D SLAM for Coal Mine Rescue Robots, IEEE Access, Digital Object Identifier 10.1109/ACCESS.2018.2889304
21. N S Plotnikov, E U Kolokoltseva, Y V Volkova.2020 Technical Review of Robotic Complexes for Underground Mining, Earth and Environmental Science 459 (2020) 042025 IOP Publishing doi:10.1088/1755-1315/459/4/042025
22. Niu Zhigang, Wang Lu 2011. Hazardous Gas Detecting Method Applied in Coal Mine Detection Robot Third International Conference on Measuring Technology and Mechatronics Automation
23. Park J-H and Cho B-K 2018. “Development of a self-balancing robot with a control moment gyroscope”, International Journal of Advanced Robotic Systems, 15, 1–11.
24. Ruan X and Chen J 2010. “H1 robust control of self-balancing two wheeled robot”, 8th World congress on intelligent control and automation, Jinan, China, 7-9 July 2010, pp. 6524–6527.
25. S Greh, M Donner, M Ferber, A Dietze, H Mischo and B Jung. 2015. Mining-RoX – Mobile Robots in Underground Mining, THIRD INTERNATIONAL FUTURE MINING CONFERENCE / SYDNEY, NSW, 4–6 NOVEMBER 2015
26. Takei T, Imamura R and Yuta S 2009. “Baggage transportation and navigation by a wheeled inverted pendulum mobile robot”, IEEE Transactions on Industrial Electronic, 56(10): 3985-3994.
27. Tanaka K and Nagasawa S 2020. “Posture stability control of a small inverted pendulum robot in trajectory tracking using a control moment gyro”, Advanced Robotics, 34(9), 610-620.
28. Ünker F 2021. “Proportional Control Moment Gyroscope for Two-Wheeled Self-Balancing Robot”, Journal of Vibration and Control 0(0): 1–9.
29. V N Fryanov, L D Pavlova and M V Temlyantsev,2017. Theoretical approaches to creation of robotic coal mines based on the synthesis of simulation Technologies, IOP Conf. Series: Earth and Environmental Science 84 (2017) 012001 do i :10.1088/1755-1315/84/1/012001
30. Wasiwitono U, Wahjudi A and Saputra AK 2020. “Stabilization and disturbance attenuation control of the gyroscopic inverted pendulum”, Journal of Vibration and Control 0(0): 1-11.
31. Xu J, Shang S, Qi H, et al. 2016, “Simulative investigation on head injuries of electric self-balancing scooter riders subject to ground impact”, Accid Anal Prev 89, 128–141.
32. Xuewen Rong, Rui Song, Xianming Song, Yibin Li, 2011. Mechanism and explosion-proof design for a coal mine detection robot, Procedia Engineering 15 (2011) 100 – 104
33. Yetkin H and Ozguner U 2013. “Stabilizing control of an autonomous bicycle”, 9th Asian control conference (ASCC), Istanbul, Turkey, 23-26 June 2013, pp.1–6.
34. Yun SY, Lee WS and Gwak KW 2020. “CMG-based anthropomorphic test device for human rider behavior reproduction for two-wheeled self-balancing personal mobility”, Mechatronics, 69, 102365.