Robust Localization for Underground Mining Vehicles: An Application in a Room and Pillar Mine.

Most autonomous navigation systems used in underground mining vehicles such as load-haul-dump (LHD) vehicles and trucks use 2D light detection and ranging (LIDAR) sensors and 2D representations/maps of the environment. In this article, we propose the use of 3D LIDARs and existing 3D simultaneous localization and mapping (SLAM) jointly with 2D mapping methods to produce or update 2D grid maps of underground tunnels that may have significant elevation changes. Existing mapping methods that only use 2D LIDARs are shown to fail to produce accurate 2D grid maps of the environment. These maps can be used for robust localization and navigation in different mine types (e.g., sublevel stoping, block/panel caving, room and pillar), using only 2D LIDAR sensors. The proposed methodology was tested in the Werra Potash Mine located at Philippsthal, Germany, under real operational conditions. The obtained results show that the enhanced 2D map-building method produces a superior mapping performance compared with a 2D map generated without the use of the 3D LIDAR-based mapping solution. The 2D map generated enables robust 2D localization, which was tested during the operation of an autonomous LHD, performing autonomous navigation and autonomous loading over extended periods of time.

Detection of intermuscular coordination based on the causality of empirical mode decomposition.

Considering the stochastic nature of electromyographic (EMG) signals, nonlinear methods may be a more accurate approach to study intermuscular coordination than the linear approach. The aims of this study were to assess the coordination between two ankle plantar flexors using EMG by applying the causal decomposition approach and assessing whether the intermuscular coordination is affected by the slope of the treadmill. The medial gastrocnemius (MG) and soleus muscles (SOL) were analyzed during the treadmill walking at inclinations of 0°, 5°, and 10°. The coordination was evaluated using ensemble empirical mode decomposition, and the causal interaction was encoded by the instantaneous phase dependence of time series bi-directional causality. To estimate the mutual predictability between MG and SOL, the cross-approximate entropy (XApEn) was assessed. The maximal causal interaction was observed between 40 and 75 Hz independent of inclination. XApEn showed a significant decrease between 0° and 5° (p = 0.028), between 5° and 10° (p = 0.038), and between 0° and 10° (p = 0.014), indicating an increase in coordination. Thus, causal decomposition is an appropriate methodology to study intermuscular coordination. These results indicate that the variation of loading through the change in treadmill inclination increases the interaction of the shared input between MG and SOL, suggesting increased intermuscular coordination.

Are cursorial birds good kinematic models of non-avian theropods? / ¿Son los pájaros corredores buenos modelos cinemáticos de terópodos no aviares?

Determining kinematics of hindlimbs of theropod dinosaurs has been a challenge. Since cursorial birds are phylogenetically closest to theropod dinosaurs they are commonly used as a kinematic model of theropod dinosaur locomotion. Using a comparative biomechanical approach, we found that cursorial birds have a different morphology of legs than non avian theropodos and that appears to be that felines and ungulates share more morphological properties in the hindlimbs with theropod dinosaurs than cursorial birds. We calculated the ratio between the lower leg and the femur, and the relative length of the tibia and the metatarsus with respect to the length of the femur in cursorial birds, as well as felines, ungulates and non-avian theropods. We found that as the length of the femur increases, the length of the lower leg increases similarly in felines, ungulates and non-avian theropods. On the other hand, existing and extinct cursorial birds did not follow this pattern. This observation suggests that the hindlimb of cursorial birds are not well suited to serve as kinematic models for hindlimb of extinct theropod dinosaur locomotion.

Determinar la cinemática de los miembros pelvianos de los dinosaurios terópodos ha sido un desafío. Dado que las aves corredoras son filogenéticamente más cercanas a los dinosaurios terópodos, son comúnmente utilizadas como modelo cinemático de la locomoción del dinosaurio terópodo. Usando un enfoque biomecánico comparativo, encontramos que las aves corredoras tienen una morfología de pies diferente a la de los terópodos no aviares y parece ser que los felinos y los ungulados comparten más propiedades morfológicas en los pies con los dinosaurios terópodos que las aves corredoras. Calculamos la proporción entre la parte inferior de la pierna y el fémur, y la longitud relativa de la tibia y el metatarso con respecto a la longitud del fémur en aves corredoras, así como en los terópodos no aviares y ungulados. Encontramos que a medida que aumenta la longitud del fémur, la longitud de la parte inferior de la pierna aumenta de manera similar en los terópodos, los ungulados y los terópodos no aviares. Por otro lado, las aves corredoras existentes y extintas no siguieron este patrón. Esta observación sugiere que el miembro pelviano de las aves corredoras no es adecuada para servir como modelos cinemáticos de locomoción del miembro pelviano del dinosaurio terópodo extinto.