A high-order bilateral consensus robot formation control protocol for multi-agent systems is proposed in this paper. Considering the relationship between the state of the information exchange topology and derivatives, a third-order bilateral consistency protocol is presented and is extended it to a higher order bilateral consensus protocol. First, sufficient conditions for the third-order multi-agent system are given to achieve the bilateral consensus control protocol, and the system’s asymptotical stability is also achieved by adjusting the feedback system gain parameters. Then, by further studying the cohesive relationship between each state variable of the third-order protocol and the gauge transformation, the sufficient conditions of the higher order system are also provided. Finally, by applying the third-order control protocol to the control of multi-robot formation, the general control scheme of robot formation is given and the control of robot formation is successfully achieved.

Mine water cannot be discharged until it has been treated, which increases the cost of mining and causes environmental damage. This paper attempted to use sulfate mine water as a flame retardant material for the treatment of coal spontaneous combustion (CSC) in underground mines. The temperature-programed experimental device and gas chromatograph were used to simulate the low-temperature oxidation process of coal. Infrared spectroscopy was used to study the influence and inhibition mechanism of mine water and chloride inhibitor on active functional groups. It was found that although the sulfate mine water inhibited the formation of −OH, it accelerated the cleavage of the aromatic ring. The thermogravimetric experiment was used to analyze the ignition temperature and activation energy of different coal samples. It was found that mine water had an obvious effect on inhibiting CSC in the combustion stage, which could increase the oxidation temperature of coal.

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Large metal mines have many features of returning to the wind shaft and multi-level mining. The ventilation system is complex, and the ventilation conditions and external environment of each area are different. The general mine ventilation evaluation is for the entire mine system. It is not possible to accurately and specifically make specific evaluations and management recommendations for each part of the ventilation system. Taking the safety management research of the ventilation system of Huibaoling Iron Mine as an example, a regional evaluation method is proposed. An evaluation index system was established and evaluated for four different levels of regional ventilation systems in Huibaoling Iron Mine. The overall scores of each region and the scores of each indicator were used to provide a basis for specific safety management work. Field practice shows that regional ventilation management can solve ventilation management problems efficiently and in a targeted manner, and has good promotion and utilization value.

To investigate the influence of basic characteristics of oil shale dust on wet dust removal, oil shales (Longkou oil shales Y 1 , Y 2 S 2 , and Y 2 S 1 and Fushun oil shale) with different oil contents, brown coal (M 1 ), and bituminous coal (M) were selected from a typical mining area in China to test their physiochemical parameters. Their proximate component, chemical structures, surface morphology, and mineral contents were determined. The sedimentation experiments of oil shale dust and coal dust were implemented using three anionic surfactants (AOS, SDS, and SDBS) and a nonionic surfactant (AEO-9), and the wettability of oil shale dust was analyzed and compared with that of coal dust. The experimental results indicate that the moisture content, volatile content, fixed carbon content, and content of oxygen-containing functional groups of oil shale are higher than those of the coal sample; otherwise, contents of ash, SiO 2 , aliphatic hydrocarbon, and aromatic hydrocarbon are lower. It can be found that oil shale has semiclosed pores, poor connectivity, a small pore size, a large specific surface area, and a rougher surface, which will lead to poorer wettability of oil shale. The wettability of oil shale can be improved by adding surfactants but is still weaker than that of the coal samples. Anionic surfactants are better than nonionic surfactants in improving the wetting performance. Among them, AOS shows strong wetting ability to oil shale dust. The research results of this paper have an important practical significance for analyzing the wettability of oil shale and controlling oil shale dust.