The article deals with the problem of sustainable development of mountain areas on the basis of automated monitoring of inaccessible mountain areas using unmanned aerial vehicles (UMAV), the properties of which depend significantly on the characteristics of the navigation system (NS) and software (SW). The methodological base of the research carried out in the scope of the article includes the theory of circuits and classical methods of analysis of linear electronic circuits, mathematical apparatus of signal analysis in the frequency domain, error theory, etc. The novelty of the article is mainly determined by a significant improvement in the quality of monitoring and elimination of the shortcomings of the known UMAV and the fact that it proposes the design of a navigation system with new functionality and SW with improved characteristics. In this regard, the main results of the article are related to the creation of a special inertial navigation system (INS) and special SW. An important advantage of the latter is to ensure high reliability of monitoring of remote mountain landscapes, which is highly appreciated by experts on sustainable development of mountain areas. The article also considers the whole set of tasks to be solved on the basis of UMAV in order to ensure sustainable development of mountain areas. The success of solving these problems is significantly increased by using the developed INS and SW, as they allow processing and analysis of data (information) in real time, the results of which are displayed for visualization (displayed as graphics of acceleration, speed and movement, and UMAV models in three-dimensional space). The important features of the developed SW also include: the possibility of real-time spectral analysis of signals, which is based on the algorithm of fast Fourier transform; analysis of the normal distribution and dispersion of the data; providing research characteristics of the complementary filter, Kalman filter and composite filter based on them. In General, the developed SW is a universal tool for the analysis of the ins with the ability to be developed and optimized as necessary. Moreover, the use of UMAV with developed INS and SW is expected to significantly increase the reliability of information on hard-to-reach areas of mountain territories. The main conclusion of the article is the possibility of wide and effective use of INS and SW for solving the problems of sustainable development of mountain mountain territories.
The concept of unmanned mine production based on the use of non-traditional physical effects and phenomena, as well as a possible method of its implementation with the help of a multi-agent robotic complex, is presented. The complex includes a rock-milling and ore-preparing mining combine, auxiliary stand-alone stationary and mobile robotic systems and pipeline pneumatic conveying. The design of the com- bine used three inventions (RF patents No. 2136397, No. 2234603 and No. 2404862). Extraction of the rock takes place in the form of crushing of the surface layer of the rock monolith and the surfaces of the combs of the working organ of the combine at high frequency impacts of the strikers along the surface of the ore body. The combs are made from blocks of rock and create the effect of "threshold destruction" of the rock. The effect is to limit the value of deformation stresses in the polycrystalline structure of the near-surface layers of the material within the threshold of the strength of intergranular bonds. Because of this, with mutual impacts of the surfaces of the rock monolith and striker in the near-surface layers of solid rock, the surface microcracks grow along the intercrystalline boundaries. As a result of multiple repetition of impact impacts, fatigue distur- bances accumulate in the structure of the subsurface layers of the rock, resulting in the separation from the monolith of the ore that has been mined with a high degree of selectivity. The automation of the proposed combine provides op- timal conditions for the accumulation of fatigue structural defects. The design productivity of the combine is not inferior to the daily productivity of three-brigade mining using drilling and blasting operations with the laying of providing penetrations and the use of mining equipment 52 items. Crushed ore is collected by the suction pneumatic system of the combine and fed to the airgravity separator of the mixture materials, from which the concentrate is transported directly to the surface by the pipeline pneumotransport to the concentrat- ing factory, and the empty rock is fed to autonomous mobile shotcrete complexes for the preparation of fast-setting embedded material and the laying of empty excavations. In the concepts of aggregate designs, in the solutions of algorithmic and kinematic problems of aggregate functioning, navigation, positioning and interaction of autonomous aggre-gates of the multiagent complex, the author has experience in developing and creating systems for supporting intelligent decision making and creating multi-agent robot systems. The application of the new technology will lead to a significant reduction in energy consumption of ore production, a multiple reduction in the amount of material extracted from the mine, with a corresponding reduction in environmental pressure on the environment.
The article analyzes the use of renewable energy resources (RES) of the Chechen Republic. Renewable energy sources – RES) are energy resources of constantly existing natural processes on the planet, as well as energy resources of products of vital activity of biocenters of plant and animal origin. The main advantages of renewable energy sources in comparison with energy sources on organic fuel are the practical inexhaustibility of resources, the widespread distribution of many of them, the absence of fuel costs and emissions of harmful substances into the environment. The use of such renewable energy sources has recently been successfully developing all over the world. Therefore, in this work the analysis of the use of renewable energy resources of the Chechen Republic, where the assessment of wind potential and solar radiation in different periods of the year. The main characteristics of the wind energy cadastre are presented. The questions of biomass and geothermal energy use and application of detander-generator units (DGA) in the gas supply systems of the Chechen Republic are considered. The ways of development and effective use of renewable energy sources are studied. improving the efficiency of energy resources use, introduction of new promising alternative sources is one of the most important tasks of innovative energy development, which give a complete system view of the scale of the problem of transferring the energy system to innovative rails. Moreover, along with energy problems, environmental problems are also being considered, which have begun to grow worldwide. Especially the attention to RES was followed by a number of major political and environmental crises, after which active research began around the world to identify environmentally friendly energy sources and technologies for their transformation. During the study of the development of the modern Russian energy complex, it was noted that the Russian energy sector comprises about 600 power plants with a specific capacity of more than 5 MW. As a result, the total installed capacity of existing power plants in Russia with a certain structure by type of generation is presented. The scientific and technical basis of the use of renewable energy sources and the technologies of their use for electricity production are presented. Based on the results of the issue under consideration, it can be noted that Russia has great opportunities to become a regional leader in ensuring Eurasian energy security.
Cyclical-flow and in-line production are the most progres- sive methods of production. These methods have found application in the development of coal deposits, as well as in the dumping for soft and loose rocks. The purpose of the proposed work is the development of special belt conveyors capable of transporting mountain cargoes prepared by drilling and blasting without expensive secondary grinding in crushing units. This problem is solved with the help of belt-wheel conveyors, proposed by prof. Spivakovsky A.O. The steeply inclined belt-wheel conveyor considered in this work is capable of transporting loads at angles of inclination corresponding to the angles of slope of the sides of the quarry, which significantly reduces the capital costs for the construction of transport trenches and reduces the required length of the conveyor itself. The operability of the structure, as well as the loading device to it, were tested in laboratory experimental installations. Successful operation of the first pilot-industrial sample of a lifting belt-wheel conveyor served as the basis for the development and implementation of a large career conveyor system. However, serious miscalculations made during the design of the complex led to unsatisfactory results of its operation. The proposed steeply inclined belt-wheel conveyor allows to increase the angle of inclination to 40-450, which in most cases corresponds to the angles of slope of the sides of quarries. The drive of a steeply inclined lifting belt-wheel conveyor is advisable to perform as an intermediate rack and pin drive for the experience of using such drives in modern underground escalators. Such a solution allows to reduce radius of curvature of the conveyor line at the inflection sites, which causes a significant reduction in the volumes of mining, capital and construction and installation works. Successful operation of belt-wheel conveyors for coarse-grained mining cargoes is possible with the provision of a shockless load-carrying belt and at a speed close to the speed of the conveyor. The fall of coarse-grained rocks and ores with a size of more than 0.5 m leads to breakdown not only of the working strip of the tape, but also of the frame itself of the tape. The problem of efficient loading of belt-wheel conveyors can be solved with the use of a special blade-type loader, which ensures a shock-free loading of the conveyor.
Purpose. The tailings pond is a mountain object that undergoes significant physicochemical changes. It should be considered not only as waste, but also as temporarily preserved raw materials. Therefore, the fate of the tailing dumps should be considered in a comprehensive manner, taking into account their environmental dangers and the benefits from the components obtained, and the restoration of the habitat. It is necessary to carefully plan the tailing dump and tailings processing activities long before the operation of the enterprise during the entire life of the mine, as well as for the purpose of rational land reclamation after closure. Accuracy and reliability of control under the known mineralogical and chemical composition of the pulp solid phase will allow us to justify and continuously assess the material balance of the concentrating mill, and control the technological and ecological state of the tailing dump. Method. Measurement of the technological parameters of the pulp in a gravity tail pipe (pipeline) is carried out using measuring systems. Measurement of solid flow in pulp with the help of modern tools is necessary to improve the accuracy and reliability of control of process flows during the transportation of tailings to the tailings pond. Discussion. The performed investigations made it possible to propose a system for automated control of solid flow in a pulp moving along a partially filled pipeline. The control of the flow of solids in the pulp was carried out in a pipeline with a radius of 0.5 m which was filled with a pulp with a different filling volume of the pipeline, for example from 60–100% of its volume, the area of the segment of the unfilled space of the pipeline was measured with an ultrasonic level meter, the volumetric flow of pulp – flow meter, the density of the solid in the pulp – in a laboratory way, and the density of the pulp and the density of the liquid – a radioisotope densitometer. The proposed system allows you to obtain operational and accurate current information on the flow rate of solid in the pulp entering the main pipeline and reduce the error by 50%. Result. The proposed methodology, based on the regularities of tailings management will improve the efficiency of the technological solution for storing raw materials. Knowledge of the volumes of tailings stored in the tailing pond is an indispensable condition for ensuring the safety of the drive and evaluating the economic efficiency when using them further.
The collapse of the unified economic system of the USSR led to a sharp drop in industrial production in the post-Soviet space. But with the dynamic development in recent years of the construction industry of military-industrial and oil and gas complexes, as well as other sectors of the economy, the need for welding electrodes has also increased. However, economic sanctions imposed by Western countries against Russian enterprises have created objective conditions for the organization and successful operation of their own mini- production of welding electrodes. Purpose. Development and justification of technology for preparation of coating composition for welding electrodes using materials from non-metallic minerals of the North Caucasus region for the production of high quality welding materials. Methods. To improve the welding-technological properties and reduce the cost of welding electrodes in the electrode coating containing the components of the base electrode variant, dolomite and volcanic ash were additionally introduced in the form of fine powders (particle size not more than 150 microns). Preparation of the charge components, mixing of the coating mass and pressing of the electrode rods were carried out according to the technology adopted in the serial production of electrodes. Quality control was carried out for compliance of electrodes with the requirements of GOST 9466-75 on the difference of coating thickness and welding-technological properties. Discussion. In operation, welding electrodes were investigated, in the charge of the coating mass of which components from non-metallic minerals of the North Caucasus region were included or partially replaced in order to create new high-performance welding materials. The results of testing of electrodes during welding in different spatial positions showed that good separability of slag crust from the surface of the weld, as well as high welding and technological properties of the electrodes are provided with the content of 9-10% of volcanic ash, 55-57% of dolomite in the coating. At the same time, the formed slags have good hiding power and provide for the production of fine-grained seams with a smooth transition of the gain to the base metal. The decrease in the content of volcanic ash led to a decrease in the plasticity of the coating mass, which did not allow to reach the values of the eccentricity of the coating e ≤ 0.20 mm, required by GOST 9466-75 for electrodes with a diameter of 4 mm. an Increase in the content of volcanic ash above 10% with the number of components in the declared range led to a deterioration in welding and technological properties. Thus, the properties of the coating masses and the mechanical properties of the deposited metal allow them to be used in the manufacture of both serial electrodes of the brands UONI-13/55, ANO-9, Mr-3, and in the development of new brands of electrodes. Summary. On the basis of the studied raw materials resources of the North Caucasus region, experimental work was carried out to replace expensive and scarce components of welding electrode coatings with components from local raw materials. As a result, the compositions of electrode coatings for welding critical structures, including for the construction and repair of oil and gas facilities were developed. In the course of the research, several variants of electrode coating charge were developed, which provided satisfactory formation of welded joints in all spatial positions and mechanical properties of single-pass steel joints with a thickness of 12-14 mm at the level shown to the electrodes of type E46. The introduction of dolomite and volcanic ash to the electrode coating in comparison with the series electrodes of the fluoride-calcium type will increase the strength of the finished electrode coating, improve the plastic properties of the coating mass and the separability of the slag crust, provide additional ga
The complexity of the mineralogical composition and the reduction of the content of valuable components in copper ores leads to the search for new alternative solutions for the production of a marketable product with the preservation of the profitability of production. Traditional pyro-metallurgical technologies, currently widespread, are not used in the construction of new metallurgical complexes, and preference is given to autoclave leaching technologies and increasing the complexity of the use of raw materials with a reduction in the loss of valuable components. The largest amount of copper produced by hydrometallurgical method is based on sulfuric acid and ammonia leaching. The latter is characterized with low aggressiveness and high selectivity in relation to iron and other components of waste rock. In addition, ammonia can be regenerated which makes this method preferable for creating a highly efficient technology. Hydrometallurgical technologies allow selective separation of impurity and target components which simplifies the further production of commercial products, while causing less damage to the environment and increasing extraction at the processing sites. The use of hydrometallurgy makes it possible to extract zinc, cobalt, Nickel and rhenium into a solution with a sufficiently high concentration for further cost-effective production of a marketable product. The paper presents the results of the study of autoclave ammonia leaching on the example of semi-products of copper sandstone enrichment of Dzhezkazgan Deposit. In the experiment, the concentration of the supplied NH3 was varied at constant values of oxygen pressure and ammonium sulfate addition, which allowed to determine the dependence of copper and silver extraction into the solution on the volume of its supply. The characteristics of the materials used in the work are given: the results of granule-metric analysis, mineralogical and elemental composition. This allows us to evaluate the possibility of using the studied leaching method for raw materials obtained from other sources. The dependence of extraction of copper and silver in solution on the concentration of ammonia and the preferred mode of leaching within the boundaries of the study according to the proposed technological criterion of optimality. The estimation of the cost of valuable components contained in a ton of concentrate, which makes it possible to calculate the preliminary economic efficiency of production. The assumption is made about the efficiency of the developed technology on copper-containing ores of the North Caucasus Urup, Mizur and other deposits.
The aim of the work is to justify the parameters of multi-stage averaging in underground mining on the basis of the developed simulation model to align their composition to the content. The idea of the work is to establish the regularities of the formation of ore mass in the multi-stage process of stabilization of the quality of ore streams. Ore extraction technology, although it has certain averaging properties, does not provide the necessary level of stabilization of the quality of the ore mass. Due to the instability of the quality of the ore mass, the quality performance of the processing plant deteriorates, as a result of which the degree of extraction of the useful component decreases and the losses and costs of processing increase. Stabilization of product quality in underground mining is a multi-stage process implemented through the implementation of independent operations for planning and organization of technological works. The method of formation of multistage ore streams of required quality in the required volume based on the method of mathematical statistics is proposed. Each stage of the averaging quality of ore match your original settings, restrictions, criteria for averaging, space averaging. Results. The work was carried out within the framework of research works on the theme "Theoretical foundations of new technologies with controlled quality of ores, ensuring effective development of non-ferrous metal deposits". The following conclusions are given in this work: - a simulation model is proposed to determine the required volumes of ore production at the quality management facilities in order to align their quality composition; - the scheme of stabilization of quality of ores realized by means of calendar planning and multistage averaging is given, meets the mining and geological conditions of Zhezkazgan field, provides the necessary stabilization of quality of ore flow, does not require additional capital costs for the device of underground and surface averaging warehouses, the acquisition of ore sorting machines.
The relevance of this work is determined by the need to create systems for recognizing the images of autonomous robots intended for transition to precision agriculture aimed at dramatically increasing the efficiency of agricultural production in mountainous areas. The purpose of the work is the development of the theoretical basis for image recognition by an agricultural autonomous robot based on video information. The task of the work is the development of a teaching system for an autonomous robot to recognize video data on the basis of multi-agent cognitive architectures. The methods based on cognitive architectures today are considered as the most common paradigm for modeling thinking and behavior. The algorithm of the multi-agent cognitive architecture presented in this paper is intended for interactive learning of images recognition registered by video cameras installed on the mobile robot. Video stream split into frames with the help of standard libraries is transmitted for further processing to robot software receptors-actors. Actors main task is in forming symbol signatures containing information about the basic primitives of image. Signatures are sent further along the afferent tract of the multi-agent cognitive architecture in order to search or create an agent which identifies statement in these signatures in the recognized input language. The obtained results are based on the application of multi-agent representations of the corresponding cognitive functions capable of learning and priming on the basis of self-organization. The further work should be directed to the development of image recognition methods, based on architectural similarity with the neuro-morphological substrate of image recognition process in biological organisms. The basic conclusions are connected with the assertion of the possibilities of creation of the agricultural robots’ machine vision systems. The main technological driver of precision agriculture providing the unique abilities of sustainable development of agro ecosystems is the mass usage of intelli- gent robots that are able to autonomous decision making and behavior. The significant increase in productivity due to this process, with a corresponding reduction in the cost of production, will allow the small-scale agricultural producers that are most widespread in the mountainous areas, to compete effectively with large farms. The use of autonomous intelligent robots will help to level out the advantages of the latter connected with the lack of a deficit of land and the possibility of reducing costs due to significant production volumes.
gines are widely used as a drive on autonomous vehicles, special purpose vehicles for the development of mountain areas, extraction of minerals by open and closed mine method. The aim of this work is to perform analysis of statistical data taking into account the causes of failures; to set the mean time between the cylinder heads of the diesel engine of locomotives of mining enterprises; to establish the form and parameters of the law of distribution of the operating time for the failure of cylinder heads of mining transport vehicles. Methods. Mathematical methods are used processing the statistical data; assessment of reliability and prediction of longevity; testing the hypothesis that the sample belongs to a certain distribution law; verification of statistical hypotheses. Results. The conditions of operation of power diesel engines in mountain areas and in the extraction of minerals are similar and primarily due to large slopes. In order to assess the reasons for the failure of diesel engines of mining transport vehicles, statistical data were analyzed at transport enterprises with different operating conditions. The least reli- able node of the diesel system is the cylinder-piston group. The analysis of failure-free operation according to aggregate logs of three enterprises on which mining transport vehicles with power diesel engines is analyzed. The greatest share of refusals of cylinder heads of mining transport vehicles in all enterprises is caused by cracks in the inter-valve lintel, and the maximum number of such failures was observed at facilities with an average tension of the work. The distributions received on objects with light and heavy work are similar. Conclusions. Analysis of statistical data, taking into account the reasons of failures, allowed to establish the values of the mean time between failures of cylinder heads of diesel engines of locomotives of mining enterprises with average, light and heavy work tension. The form and parameters of the law of distribution of the operating time for the failure of cylinder heads of mining transport vehicles have been established, taking into account their operating conditions. The obtained results allow to clarify the reliability characteristics of the diesel power engine of the mining transport vehicle and to predict the occurrence of failures.
ISSN 1998-4502 (Print) ISSN 2499-975Х (Online)