HADES: An underground mine disaster scouting robot

Molyneaux, Lance; Carnegie, Dale A.; Chitty, Chris

doi:10.1109/ssrr.2015.7443019

Cited by 12 publications

(35 citation statements)

References 11 publications

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“… Examples of single‐modal, terrestrial robots (a) Image of the Numbat [5], (b) Image of the Wolverine [5], (c) Image of the Hades vehicle [6]…”

Section: Locomotionmentioning

confidence: 99%

“…1, pp. [1][2][3][4][5][6][7][8][9][10][11][12][13] This is an open access article published by the IET and Zhejiang University Press under the Creative Commons Attribution-NonCommercial-NoDerivs License (http://creativecommons.org/licenses/by-nc-nd/3.0/) ability to cross gaps or conform to rough terrain. Each segment has driven tracks on all four sides which prevents disruption of locomotion if it rolls over.…”

Section: Single-modalmentioning

confidence: 99%

“…It features wireless transmission, a sealed chassis, and a Kinect sensor to provide visual information in complete darkness. The platform, however, is low‐profile and can only climb minor debris piles [6]. This platform also has not been tested in environments with deep sludge where it could get trapped and its sensors could become obstructed.…”

Section: Locomotionmentioning

confidence: 99%

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Survey of unmanned subterranean exploration, navigation, and localisation

Martz

Al-Sabban

Smith

2020

IET cyber-systems robotics

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Subsurface networks include mining tunnels, caves, and the urban underground. Each of these environments presents a complex setting with significant challenges in exploration, exploitation, etc. Multiple hazards exist, including environmental and structural, and conditions degrade and change temporally. We present a survey of research in autonomy, networking and mobility focused on exploring and/or mapping subsurface networks in unpredictable and unexplored environments. The focus is on mining tunnels as a proxy subterranean environment; motivated by the proximity of the authors to the Bonita Peak Mining District; a Superfund site consisting of 48 historic mines which have contaminated soil, groundwater and surface water with heavy metals as a result of historic practices. The exploration and assessment of the mining tunnels for remediation efforts presents an extremely challenging problem in subterranean navigation. Arguably, the environment in question is the most extreme and challenging subterranean environment. Unmanned assets must enter to explore and re‐map the tunnels to assess safety for subsequent entrance by robots and/or humans for proper remediation. The survey is split into three categories — Locomotion, GPS‐denied navigation and localization, and Communication. It is concluded with a proposed design for a platform that addresses the difficulties of exploring an abandoned mine

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“… Examples of single‐modal, terrestrial robots (a) Image of the Numbat [5], (b) Image of the Wolverine [5], (c) Image of the Hades vehicle [6]…”

Section: Locomotionmentioning

confidence: 99%

Section: Single-modalmentioning

confidence: 99%

Section: Locomotionmentioning

confidence: 99%

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Survey of unmanned subterranean exploration, navigation, and localisation

Martz

Al-Sabban

Smith

2020

IET cyber-systems robotics

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“…Therefore, the new structural design and the lightweight of the robot are the most important work in the field of the rescue robots [25,26]. Molyneaux Lance proposed methods to solve the difficulties of underground mine environments; a system level design is carried out in the paper of "Development of an Underground Mine Scout Robot" [27]. To operate in an explosive atmosphere, a purge and pressurisation system is applied to a fiber glass chassis, with intrinsic safety incorporated into the sensor design.…”

Section: New Explosion-proof Materials and Lightweight Physicalmentioning

confidence: 99%

The Encountered Problems and Solutions in the Development of Coal Mine Rescue Robot

Yong

Tian

Yu³

et al. 2018

Journal of Robotics

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Based on the various problems in the process of coal robot applications, from three-dimensional analysis of the key technology, market demand, and policy regulations and standardization, the paper reviews the use of carbon fiber material, elastic material of traditional surface spraying and integral casting technology to realize lightweight robot, by using the dual redundant design to improve the reliability of the rescue robot CPU, through the functions of voice recognition obstacle sensor, gas sensor acquisition components, and distribution information to realize the underground rescue mission. In addition, virtual test technology, hardware in the loop simulation technology, and shrinkage model technology are proposed to solve the difficulties of hard field testing of rescue robots. These suggest that concrete measures have been pointed out to break the problem of the development of the coal mine relief robot.

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“…The complications of operating a robot in an underground mine disaster, and the lack of existing robots to effectively and reliably navigate through this environment are described in Chapters 1 and 2. This thesis and resulting publication [129] present the design for a solution to fill this void.…”

Section: Reviewmentioning

confidence: 99%

Development of an Underground Mine Scout Robot

Molyneaux¹

Self Cite

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<p>Despite increased safety and improved technology in the mining industry, fatal disasters still occur. Robots have the potential to be an invaluable resource for search and rescue teams to scout dangerous or difficult situations. Existing underground mine search and rescue robots have demonstrated limited success. Identified through literature, the two primary concerns are unreliable locomotion systems and a lack of underground mine environment consideration. HADES, an underground mine disaster scout, addresses these issues with a unique chassis and novel locomotion. A system level design is carried out, addressing the difficulties of underground mine environments. To operate in an explosive atmosphere, a purge and pressurisation system is applied to a fibre glass chassis, with intrinsic safety incorporated into the sensor design. To prevent dust, dirt and water damaging the electronics, ingress protection is applied through sealing. The chassis is invertible, with a low centre of gravity and a roll-axis pivot. This chassis design, in combination with spoked-wheels allows traversal of the debris and rubble of a disaster site. Electrochemical gas sensors are incorporated, along with RGB-D cameras, two-way audio and various other environment sensors. A communication system combining a tether and mesh network is designed, with wireless nodes to increase wireless range and reliability. Electronic hardware and software control are implemented to produce an operational scout robot. HADES is 0.7 × 0.6 × 0.4 m, with a sealed IP65 chassis. The locomotion system is robust and effective, able to traverse most debris and rubble, as tested on the university grounds and at a clean landfill. Bottoming out is the only problem encountered, but can be avoided by approaching obstacles correctly. The motor drive system is able to drive HADES at walking speed (1.4 m/s) and it provides more torque than traction allows. Six Lithium-Polymer batteries enable 2 hours 28 minutes of continuous operation. At 20 kg and ~$7000, HADES is a portable, inexpensive scout robot for underground mine disasters.</p>

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HADES: An underground mine disaster scouting robot

Cited by 12 publications

References 11 publications

Survey of unmanned subterranean exploration, navigation, and localisation

Survey of unmanned subterranean exploration, navigation, and localisation

The Encountered Problems and Solutions in the Development of Coal Mine Rescue Robot

Development of an Underground Mine Scout Robot

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