Groundhog knee deep in mine muck.2D mine map produced by Groundhog.3D mine map snapshot produced by Groundhog.Ferret1 deployed into the Mellon Institute void.Second generation Ferret with higher power laser range finder.Ferret2 scan of a limestone mine after a domeout, Kansas City, Kansas.Borehole deployable, inflatable mobile robot concept.
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Publications
A System for Volumetric Robotic Mapping of Underground Mines
A Case Study in Robotic Mapping of Abandoned Mines
Case Studies of a Borehole Deployable Robot for Limestone Mine Profiling and Mapping
Ferret Extended Abstract
Press Coverage
Site | Press & Publication | Publications | Case Studies of a Borehole Deployable Robot for Limestone Mine Profiling and Mapping
Case Studies of a Borehole Deployable Robot for Limestone Mine Profiling and Mapping

Inherent dangers in mining operations motivate the use of robotic technology for addressing hazardous situations that prevent human access. In the context of this case study, we examine the application of a robotic tool for map verification and void profiling in limestone mines after the occurrence of a ceiling collapse. Referred to as “domeouts,” these cave-ins compromise the structural integrity of the surrounding mine, endanger the mine workers, and lead to the development of sinkholes that jeopardize surface structures. Our robotic device facilitates the response and repair of domeouts by enabling remote, highly accurate measurements of the resulting void to be acquired for structural and volumetric analysis. In this paper we discuss the development of a void mapping robotic tool, demonstrate its application to domeout remediation, and present results from a case study performed in the limestone mines of Kansas City, Kansas.

Ferret Extended Abstract (pdf - 224Kb)
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