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The unmanned ground vehicle (UGV) described in this manuscript is a robot designed by the authors to map the underground mine environments. The UGV works to develop a computational intelligence-based cyber-physical system (CPS)-based analytical framework for mining operations. The UGV demonstrated excellent semi-autonomous navigation capabilities in the absence of GNSS signals. The UGV has a suite that works in unison to provide relevant information. These sensors are integrated to form a robust sensor fusion-based architecture, creating a CPS with a wide range of capabilities such as data acquisition and navigation in challenging underground environments. UGVs can be used to enhance the efficacy of safety inspections, rescue during underground emergencies and assist miners in hazardous conditions.

In this research, an UGV was constructed whose operations are enabled by sensors including a D415i Red Blue Green (RGB) depth camera, a LiDAR, a FLIR C5 infrared camera and smart air quality sensors. This sensor fusion-based architecture forms a CPS. Data obtained remotely are processed by deep learning algorithms to achieve overall capabilities such as real-time image analysis for miner identification, object detection, posture analysis and identifying threats of roof falls and overhangs. Simultaneous localization and mapping (SLAM) algorithms create a 3D map, facilitate autonomous navigation and build a decision support system for delivering mine rescue support.

The aim of this study is to include this capacity in training situations when it has been validated and authorized by the Directorate General of Mines Safety (DGMS) Indian government regulatory agency for safety in mines and oil fields. The longwall demo mine, at IIT (ISM) is being used as the site of the first operations. Once approved by the respective enforcement agencies, this technology and the accompanying rescue and training process can be used in underground operations.

In fact, this paper is the first attempt at remotely operated UGVs based on CPSs, the CPS–UGV in Indian mine conditions, so as to revolutionize Indian mines based on the idea of Industry 4.0.