Abstract

In this paper, we present the results of a series of field trials conducted with an underwater vehicle in the increasingly complex underwater environments of the Kaatiala mine in Finland, the Idrija mine in Slovenia, and the Urgeirica mine in Portugal. These field experiments have been performed to test and validate the motion control systems of the underwater explorer robot (UX-1), which are: a variable ballast system for buoyancy control, a variable pitch system for pitch control, and a propulsion system for depth and heading stabilization. The control method implemented is based on a state feedback linearization algorithm, previously tested and validated in a controlled water tank environment. Several experiments are shown which demonstrate the successful operation of the motion control systems in individual performance tests. Afterward, a full exploration and geo-scientific data collection mission is presented, where all of the motion control systems are active simultaneously during a deep dive to more than 100 m. The results obtained in the field tests demonstrate the effectiveness of the motion control systems and validate the UX-1 Robot platform as capable of performing the complex task of navigation and control in flooded mine environments.

Highlights

  • In past years, the decrease in mining activities due to low metal prices or negative environmental impact has led to an estimated 30,000 inactive or abandoned mines across European countries [1]

  • The inaugural field trials were performed at the Kaatiala mine in Finland

  • After purging the Variable Ballast System (VBS) until neutral buoyancy was acquired, the total force commanded by the Feedback Linearization (FL) controller for maintaining the same depth lowered to a mean value of 0.20 N, around 4.86% of the initial force. These results show that the addition of the VBS to the UX-1 Robot enhances the overall performance of the motion system by requiring less constant power consumption from the Propulsion System (PS), extending the overall operational time

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Summary

Introduction

The decrease in mining activities due to low metal prices or negative environmental impact has led to an estimated 30,000 inactive or abandoned mines across European countries [1]. Several of these mines were polymetallic ore deposits, where valuable metals often occurred together in different combinations, and most still contain a considerable amount of mineral reserves. The dewatering systems designed for mineral extraction usually stop This induces the flooding of abandoned mine workings and raising of the water table level.

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