Truck and shovel are the most common raw material transportation system used in the cement quarry operations. One of the major challenges associated with the cement quarry operations is the efficient allocation of truck and shovel to the mining faces. In order to minimize the truck and shovel operating cost, subject to quantity and quality constraints, the mixed integer linear programing (MILP)...

In this paper robust PID control of fully-constrained cable driven parallel manipulators with elastic cables is studied in detail. In dynamic analysis, it is assumed that the dominant dynamics of cable can be approximated by linear axial spring. To develop the idea of control for cable robots with elastic cables, a robust PID control for cable driven robots with ideal rigid cables is firstly de...

In English, many words can be used flexibly to label artifacts, as nouns, or functional uses of those artifacts, as verbs: We can shovel snow with a shovel and comb our hair with a comb. Here, we examine whether young children form generalizations about flexibility from early in life and use such generalizations to predict new word meanings. When children learn a new word for an artifact, do th...

a large number of authors have studied to find out how to control scouring around a pier along direct stream. the objective of this research is then to study a scour pattern around such piers on curves rivers due to the fact that there may be a difference between a flow pattern on a direct line and the meander. thus, this study tries to check whether the use of cable and collar alone and in a c...

For the peanut combine harvester excavation process resistance, poor soil crushing effect and reliability of problem, shovel optimization needs improvement. Firstly, a mechanical model resistance was established to investigate key factors affecting degree shovel. Next, design main parameters done determine range values EDEM software used simulate analyse explore influence law on resistance. Imp...

in this paper, a new approach to modify cable tension measuring mechanism is described; furthermore, the constructed boards which amplify load cell output are introduced. this approach has some advantages including of providing feedback for motors, evaluating the robot’s ultimate load carrying capacity, improving the motor control system and estimating the vibrating deflections of the end effec...

The load transfer mechanisms of cable bolts differ from those for normal rebar bolts. The cable bolts used in mines are basically steel strands with different constructions depending on the number of wires or elements and the way they are laid. Tendon bolts (rebar and cable) are normally evaluated for their strength and load transfer properties. The tendon strength can be evaluated by the tensi...

in this paper robust pid control of fully-constrained cable driven parallel manipulators with elastic cables is studied in detail. in dynamic analysis, it is assumed that the dominant dynamics of cable can be approximated by linear axial spring. to develop the idea of control for cable robots with elastic cables, a robust pid control for cable driven robots with ideal rigid cables is firstly de...

There is a strong push within the mining sector to automate equipment such as large excavators. A challenging problem is the control of motion on high inertia degrees of freedom where the actuators are constrained in the power they can deliver to and extract from the system and the machine’s underlying control system sits between the automation system and the actuators. The swing motion of an e...

A patient with multiple anomalies of the maxillary teeth, including shovel-shaped incisors, talon cusp, bilateral dens invaginatus and bilateral peg-shaped supernumerary incisors is reported. The patient also exhibited Carabelli's cusp on both maxillary first molars. No developmental syndrome was identified. This very unusual combination of anomalies has not been reported previously.