Evaluation of Seismic Response of External Mine Overburden Dumps

The stability of mines external overburden dump slope experiencing an earthquake is controlled by deformations; consequently a stability analysis that predicts slope displacements is desirable. The amount of displacement, deformation occur at the crest of the overburden dumps is an important factor for the seismic loading response of the dumps for the field personnel at the mine site for designing the dump slope geometry. The state of effective stress and seismic intensity significantly affects the stability range. In this paper, a simplified approach is presented for the seismic response of overburden dumps, and the role played by relevant parameters such as soil shear strength, dump height, slope angle, damping scheme, periods of seismic load and peak acceleration at excitation time is addressed

Multiple Waypoint Navigation in Unknown Indoor Environments

Indoor motion planning focuses on solving the problem of navigating an agent through a cluttered environment. To date, quite a lot of work has been done in this field, but these methods often fail to find the optimal balance between computationally inexpensive online path planning, and optimality of the path. Along with this, these works often prove optimality for single-start single-goal worlds. To address these challenges, we present a multiple waypoint path planner and controller stack for navigation in unknown indoor environments where waypoints include the goal along with the intermediary points that the robot must traverse before reaching the goal. Our approach makes use of a global planner (to find the next best waypoint at any instant), a local planner (to plan the path to a specific waypoint), and an adaptive Model Predictive Control strategy (for robust system control and faster maneuvers). We evaluate our algorithm on a set of randomly generated obstacle maps, intermediate waypoints, and start-goal pairs, with results indicating a significant reduction in computational costs, with high accuracies and robust control.Comment: Accepted at ICCR 202

A non-stationary geostatistical approach to multigaussian kriging for local reserve estimation

International audienc

A review on sensor based monitoring and control of friction stir welding process and a roadmap to Industry 4.0

This review is on the various techniques and methodologies applied to sensor based monitoring of the quality and control of defects in an advanced joining process named friction stir welding (FSW). This study is aimed to come up with Industry 4.0 automation of the same, which will help in exchanging data efficiently for a sustainable growth in the industrial sector. The implementation of sensors into the existing FSW machine channelizes the information about the process in real time, and subsequently helps in controlling the process anomaly, and thereby ensures product quality and precision. Important aspects of FSW viz. its process parameters, weld zones, and defects have been discussed from the monitoring and control point of view. In this context, the applicability of various sensors such as force, torque, current, power, temperature, vibration, acoustic emission, and imaging to acquire information about the process have been discussed. In addition to the sensing systems, processing techniques have also been discussed. A case study has also been presented to introduce the readers with the behavior of some of the signals, and semantic utilization of the processing techniques in FSW. Towards the end, a roadmap for implementing the idea of Industry 4.0 in FSW has been proposed