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Keywords = underground RFID

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17 pages, 1754 KiB  
Article
A Fuzzy Five-Region Membership Model for Continuous-Time Vehicle Flow Statistics in Underground Mines
by Hao Wang, Maoqua Wan, Hanjun Gong and Jie Hou
Processes 2025, 13(8), 2434; https://doi.org/10.3390/pr13082434 - 31 Jul 2025
Viewed by 201
Abstract
Accurate dynamic flow statistics for trackless vehicles are critical for efficiently scheduling trackless transportation systems in underground mining. However, traditional discrete time-point methods suffer from “time membership discontinuity” due to RFID timestamp sparsity. This study proposes a fuzzy five-region membership (FZFM) model to [...] Read more.
Accurate dynamic flow statistics for trackless vehicles are critical for efficiently scheduling trackless transportation systems in underground mining. However, traditional discrete time-point methods suffer from “time membership discontinuity” due to RFID timestamp sparsity. This study proposes a fuzzy five-region membership (FZFM) model to address this issue by subdividing time intervals into five characteristic regions and constructing a composite Gaussian–quadratic membership function. The model dynamically assigns weights to adjacent segments based on temporal distances, ensuring smooth transitions between time intervals while preserving flow conservation. When validated on a 29-day RFID dataset from a large coal mine, FZFM eliminated conservation bias, reduced the boundary mutation index by 11.1% compared with traditional absolute segmentation, and maintained high computational efficiency, proving suitable for real-time systems. The method effectively mitigates abrupt flow jumps at segment boundaries, providing continuous and robust flow distributions for intelligent scheduling algorithms in complex underground logistics systems. Full article
(This article belongs to the Special Issue Data-Driven Analysis and Simulation of Coal Mining)
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21 pages, 1432 KiB  
Article
Scheduling Optimization of Electric Rubber-Tired Vehicles in Underground Coal Mines Based on Constraint Programming
by Maoquan Wan, Hao Li, Hao Wang and Jie Hou
Sensors 2025, 25(11), 3435; https://doi.org/10.3390/s25113435 - 29 May 2025
Cited by 1 | Viewed by 600
Abstract
Underground coal mines face increasing challenges in the scheduling of Electric Rubber-Tired Vehicles (ERTVs) due to confined spaces, dynamic production demands, and the need to coordinate multiple constraints such as complex roadway topologies, strict time windows, and limited charging resources in the context [...] Read more.
Underground coal mines face increasing challenges in the scheduling of Electric Rubber-Tired Vehicles (ERTVs) due to confined spaces, dynamic production demands, and the need to coordinate multiple constraints such as complex roadway topologies, strict time windows, and limited charging resources in the context of clean energy transitions. This study presents a Constraint Programming (CP)-based optimization framework that integrates Virtual Charging Station Mapping (VCSM) and sensor fusion positioning to decouple spatiotemporal charging conflicts and applies a dynamic topology adjustment algorithm to enhance computational efficiency. A novel RFID–vision fusion positioning system, leveraging multi-source data to mitigate signal interference in underground environments, provides real-time, reliable spatiotemporal coordinates for the scheduling model. The proposed multi-objective model systematically incorporates hard time windows, load limits, battery endurance, and roadway regulations. Case studies conducted using real-world data from a large-scale Chinese coal mine demonstrate that the method achieves a 17.6% reduction in total transportation mileage, decreases charging events by 60%, and reduces vehicle usage by approximately 33%, all while completely eliminating time window violations. Furthermore, the computational efficiency is improved by 54.4% compared to Mixed-Integer Linear Programming (MILP). By balancing economic and operational objectives, this approach provides a robust and scalable solution for sustainable ERTV scheduling in confined underground environments, with broader applicability to industrial logistics and clean mining practices. Full article
(This article belongs to the Special Issue Recent Advances in Optical Sensor for Mining)
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9 pages, 1281 KiB  
Communication
Investigation of the Signal Reach Performance of the Ultra-High-Frequency Identification Tag for Underground Utility Management
by Youzhang Gu, Seunghyun Roh, Wuguan Lin, YooSeok Jung and Yoon-Ho Cho
Appl. Sci. 2023, 13(4), 2294; https://doi.org/10.3390/app13042294 - 10 Feb 2023
Cited by 1 | Viewed by 1768
Abstract
The historical management of underground utilities such as communication lines, water and sewage pipes, and power lines is essential for their effective use. However, due to the nature of the buried facilities, detecting and tracking them are challenging, although various solutions are difficult [...] Read more.
The historical management of underground utilities such as communication lines, water and sewage pipes, and power lines is essential for their effective use. However, due to the nature of the buried facilities, detecting and tracking them are challenging, although various solutions are difficult to apply in the field, especially optical cables, which are mainly used for communication, making it more difficult to apply existing solutions. There has been limited research on the practicalities of solutions, especially on multilayer structures such as road pavements. Based on a literature review, we selected ultra-high-frequency radio frequency identification (UHF RFID), which is least affected by performance degradation or interference due to batteries. We experimented to identify the signal attenuation based on the medium by controlling the materials and moisture used in the road pavement as variables. The signal reached a depth of 68 cm and this was possible under conditions of asphalt and subgrade soil. In a comparative experiment for each variable, we recognized tags of sand and coarse aggregate up to a depth of 70 cm. When the moisture was considered, the signal attenuation difference was 1.8 dBm for each level. Based on the experimental results of this study, it was confirmed that UHF RFID can be used as a marker sensor to be attached to utilities installed under the road pavement. Depending on the structure and material of the pavement, the signal is sufficiently transmitted up to 40–50 cm, which is the target installation depth of the communication line. Full article
(This article belongs to the Special Issue Advances in Civil Infrastructures Engineering)
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20 pages, 10407 KiB  
Article
SmartCrawler: A Size-Adaptable In-Pipe Wireless Robotic System with Two-Phase Motion Control Algorithm in Water Distribution Systems
by Saber Kazeminasab and M. Katherine Banks
Sensors 2022, 22(24), 9666; https://doi.org/10.3390/s22249666 - 9 Dec 2022
Cited by 9 | Viewed by 2493
Abstract
Incidents to pipes cause damage in water distribution systems (WDS) and access to all parts of the WDS is a challenging task. In this paper, we propose an integrated wireless robotic system for in-pipe missions that includes an agile, maneuverable, and size-adaptable (9-in [...] Read more.
Incidents to pipes cause damage in water distribution systems (WDS) and access to all parts of the WDS is a challenging task. In this paper, we propose an integrated wireless robotic system for in-pipe missions that includes an agile, maneuverable, and size-adaptable (9-in to 22-in) in-pipe robot, “SmartCrawler”, with 1.56 m/s maximum speed. We develop a two-phase motion control algorithm that enables reliable motion in straight and rotation in non-straight configurations of in-service WDS. We also propose a bi-directional wireless sensor module based on active radio frequency identification (RFID) working in 434 MHz carrier frequency and 120 kbps for up to 5 sensor measurements to enable wireless underground communication with the burial depth of 1.5 m. The integration of the proposed wireless sensor module and the two-phase motion controller demonstrates promising results for wireless control of the in-pipe robot and multi-parameter sensor transmission for in-pipe missions. Full article
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19 pages, 9894 KiB  
Article
Localization of LHD Machines in Underground Conditions Using IMU Sensors and DTW Algorithm
by Paweł Stefaniak, Bartosz Jachnik, Wioletta Koperska and Artur Skoczylas
Appl. Sci. 2021, 11(15), 6751; https://doi.org/10.3390/app11156751 - 22 Jul 2021
Cited by 14 | Viewed by 2817
Abstract
This article presents the concept of using the DTW algorithm to partially solve the problem of locating LHD (load, haul, dump) in an underground mine. The concept assumes the recognition of characteristics—patterns that are hidden in vibrations recorded by vehicles—in segments of the [...] Read more.
This article presents the concept of using the DTW algorithm to partially solve the problem of locating LHD (load, haul, dump) in an underground mine. The concept assumes the recognition of characteristics—patterns that are hidden in vibrations recorded by vehicles—in segments of the route in the underground excavation, which under appropriate conditions enables the obtainment of information similar to that obtained through the use of RFID gates. With the use of this solution in practice, there are several problems that are addressed in this article. One of the main issues is the different arrangement of the signal fragments resulting from driving along with characteristic parts of the route (bumps, paving damage, lumps of excavated material, etc.) at different driving speeds. This problem was solved by using a combination of the road quality detection algorithm and the DTW algorithm, which estimates the similarity of time series with different lengths. The concept was developed and pre-tested using a test rig and a constructed wheeled robot, and then validated in the conditions of the KGHM underground copper mine in Poland, where the readings from the typical haulage process of an LHD vehicle were analyzed. Full article
(This article belongs to the Section Transportation and Future Mobility)
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24 pages, 3061 KiB  
Article
Mobility Prediction-Based Optimisation and Encryption of Passenger Traffic-Flows Using Machine Learning
by Syed Muhammad Asad, Jawad Ahmad, Sajjad Hussain, Ahmed Zoha, Qammer Hussain Abbasi and Muhammad Ali Imran
Sensors 2020, 20(9), 2629; https://doi.org/10.3390/s20092629 - 5 May 2020
Cited by 22 | Viewed by 5913
Abstract
Information and Communication Technology (ICT) enabled optimisation of train’s passenger traffic flows is a key consideration of transportation under Smart City planning (SCP). Traditional mobility prediction based optimisation and encryption approaches are reactive in nature; however, Artificial Intelligence (AI) driven proactive solutions are [...] Read more.
Information and Communication Technology (ICT) enabled optimisation of train’s passenger traffic flows is a key consideration of transportation under Smart City planning (SCP). Traditional mobility prediction based optimisation and encryption approaches are reactive in nature; however, Artificial Intelligence (AI) driven proactive solutions are required for near real-time optimisation. Leveraging the historical passenger data recorded via Radio Frequency Identification (RFID) sensors installed at the train stations, mobility prediction models can be developed to support and improve the railway operational performance vis-a-vis 5G and beyond. In this paper we have analysed the passenger traffic flows based on an Access, Egress and Interchange (AEI) framework to support train infrastructure against congestion, accidents, overloading carriages and maintenance. This paper predominantly focuses on developing passenger flow predictions using Machine Learning (ML) along with a novel encryption model that is capable of handling the heavy passenger traffic flow in real-time. We have compared and reported the performance of various ML driven flow prediction models using real-world passenger flow data obtained from London Underground and Overground (LUO). Extensive spatio-temporal simulations leveraging realistic mobility prediction models show that an AEI framework can achieve 91.17% prediction accuracy along with secure and light-weight encryption capabilities. Security parameters such as correlation coefficient (<0.01), entropy (>7.70), number of pixel change rate (>99%), unified average change intensity (>33), contrast (>10), homogeneity (<0.3) and energy (<0.01) prove the efficacy of the proposed encryption scheme. Full article
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16 pages, 7276 KiB  
Article
Electromagnetic Soil Characterization for Undergrounded RFID System Implementation
by Ayman Elboushi, Ahmed Telba, Abdelrazik Sebak and Khalid Jamil
Electronics 2020, 9(1), 106; https://doi.org/10.3390/electronics9010106 - 6 Jan 2020
Cited by 4 | Viewed by 3352
Abstract
This paper can be divided into two main parts. In the first part, an extensive experimental study for electromagnetic characteristic assessment of different soil samples is presented. In the second part of the paper, a practical verification of the obtained link budget model [...] Read more.
This paper can be divided into two main parts. In the first part, an extensive experimental study for electromagnetic characteristic assessment of different soil samples is presented. In the second part of the paper, a practical verification of the obtained link budget model is performed using a buried metal-backed RFID tag antenna under a 40 cm sand layer. This antenna is designed to operate at 915 MHz with MONZA3 chip. Using Impinj Speedway system the tag antenna could be detected, and its information could be read from different distances of up to more than 2.5 m. Full article
(This article belongs to the Section Microwave and Wireless Communications)
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20 pages, 7959 KiB  
Article
A Sequential RFID System for Robust Communication with Underground Carbon Steel Pipes in Oil and Gas Applications
by Rushi Vyas and Bailey Tye
Electronics 2019, 8(12), 1374; https://doi.org/10.3390/electronics8121374 - 20 Nov 2019
Cited by 11 | Viewed by 5807
Abstract
The world’s oil and gas is transported using a network of steel pipelines most of which lie underground. The length of this network in the US/Canada alone is 3.5 million kilometers. Keeping track of pipes in such a network for pipeline-health monitoring, maintenance, [...] Read more.
The world’s oil and gas is transported using a network of steel pipelines most of which lie underground. The length of this network in the US/Canada alone is 3.5 million kilometers. Keeping track of pipes in such a network for pipeline-health monitoring, maintenance, and logistics is an acute problem faced by pipeline-operators. Recently, radio-frequency-identification tags (RFIDs) have been proposed for tracking pipelines and even for monitoring pipeline health with additional built-in sensors. Low-cost RFID tags are wirelessly powered and battery-less. However, RFIDs do not function optimally in the presence of magnetic carbon steel pipes that are prevalent in the industry. High-frequency wireless signals also attenuate rapidly through wet soils. In this research, the use of passive RFID sensor platforms for interrogating buried pipes up to 1.25 m deep in the LF bands is proposed. Using magnetic-induction-based communication, a test-comparison between conventional full/half duplex (FDX/HDX) and sequential (SEQ) RFID schemes is detailed. Wireless measurements in the presence of an industry-standard ASTM A-53 carbon-steel pipe show a SEQ RFID offering better immunity against magnetic proximity effects of the pipe’s wall with an 8.3 dB (x6.8) improvement over a FDX/HDX RFID operating under similar conditions over a distance of 80–125 cm at which pipes are typically buried. Full article
(This article belongs to the Special Issue Advanced RFID Technology and Applications)
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15 pages, 588 KiB  
Article
A Novel Frequency Domain Visible Light Communication (VLC) Three-Dimensional Trilateration System for Localization in Underground Mining
by Ali Dehghan Firoozabadi, Cesar Azurdia-Meza, Ismael Soto, Fabian Seguel, Nicolas Krommenacker, Daniel Iturralde, Patrick Charpentier and David Zabala-Blanco
Appl. Sci. 2019, 9(7), 1488; https://doi.org/10.3390/app9071488 - 10 Apr 2019
Cited by 38 | Viewed by 5640
Abstract
A new visible light communication (VLC) system is proposed for localization in underground mining. Existent systems, such as global positioning system (GPS) and systems based on mobile communication, are generally not useful in underground mining. The proposed system is based on a three-dimensional [...] Read more.
A new visible light communication (VLC) system is proposed for localization in underground mining. Existent systems, such as global positioning system (GPS) and systems based on mobile communication, are generally not useful in underground mining. The proposed system is based on a three-dimensional trilateration VLC localization scheme. This articles offers an evaluation of the proposed system in different evaluation scenarios in terms of the average localization error. The proposed algorithm localizes the source with an average localization estimation error of less than (16.4 cm), based on the source location. The average error is (3.5 cm) for subjects that are very close to the light-emitting-diode (LEDs).The obtained results show the superiority of the proposed method in comparison with traditional short range radio frequency technologies such as RFID, Wi-Fi and Zigbee, making it a feasible system for localizing objects in underground mining. Full article
(This article belongs to the Special Issue Light Communication: Latest Advances and Prospects)
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21 pages, 7100 KiB  
Article
Passive Harmonic RFID System for Buried Assets Localization
by Abanob Abdelnour, Antonio Lazaro, Ramón Villarino, Darine Kaddour, Smail Tedjini and David Girbau
Sensors 2018, 18(11), 3635; https://doi.org/10.3390/s18113635 - 26 Oct 2018
Cited by 28 | Viewed by 7236
Abstract
A passive harmonic tag for buried assets localization is presented for utility localization. The tag design is based on a dual-polarized patch antenna at Ultra High Frequency (UHF) band. One of its feeders is connected to a frequency doubler based on a Schottky [...] Read more.
A passive harmonic tag for buried assets localization is presented for utility localization. The tag design is based on a dual-polarized patch antenna at Ultra High Frequency (UHF) band. One of its feeders is connected to a frequency doubler based on a Schottky diode that generates the second harmonic, which is transmitted using a linear-polarized patch tuned at this frequency. The power received at the other feeder of the dual-polarized antenna is harvested by an RF to DC converter based on a five-stage voltage multiplier whose energy is used to bias a low-power quartz oscillator that modulates the output of the doubler. The different parts of the system are presented, and the theoretical read range is estimated as a function of the soil composition and the water content. A low-cost reader based on a software defined radio is also presented. Finally, experiments with a prototype of the tag are performed for different soil conditions. Full article
(This article belongs to the Special Issue RFID Sensor Tags: Hardware, Implementation, and Demonstrations)
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13 pages, 4647 KiB  
Article
Methane Gas Density Monitoring and Predicting Based on RFID Sensor Tag and CNN Algorithm
by Chunlei Zhang, Yuhua Fu, Fangming Deng, Baoquan Wei and Xiang Wu
Electronics 2018, 7(5), 69; https://doi.org/10.3390/electronics7050069 - 12 May 2018
Cited by 84 | Viewed by 5403
Abstract
According to the advantages of integrating wireless sensors networks (WSN) and radio frequency identification (RFID), this paper proposes a novel method for methane gas density monitoring and predicting based on a passive RFID sensor tag and a convolutional neural networks (CNN) algorithm. The [...] Read more.
According to the advantages of integrating wireless sensors networks (WSN) and radio frequency identification (RFID), this paper proposes a novel method for methane gas density monitoring and predicting based on a passive RFID sensor tag and a convolutional neural networks (CNN) algorithm. The proposed wireless sensor is based on electronic product code (EPC) generation2 (G2) protocol and the sensor data is embedded into the identification (ID) information of the RFID chip. The wireless sensor consists of a communication section, radio-frequency (RF) front-end section, and digital section. The communication section is used to perform the transmission and reception of wireless signals, modulation, and demodulation. The RF front-end section is adopted to provide the stable supply voltage for other parts. The digital section is employed to achieve sensor data and control the overall operation of the wireless sensor based on EPC protocol. Because the miscellaneous noises will decrease the accuracy during the process of data wireless transmission, the CNN algorithm is adopted to extract the robust feature from raw data. The measurement results show that the exploited RFID sensor can realize a maximum communication distance of 10.3 m and can accurately measure and predict the methane gas density in an underground mine. The RFID sensor technology is a beneficial supplement to the current underground WSN monitoring system. Full article
(This article belongs to the Special Issue Unconventional RFID Systems)
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24 pages, 6076 KiB  
Article
Accurate Vehicle Location System Using RFID, an Internet of Things Approach
by Jaco Prinsloo and Reza Malekian
Sensors 2016, 16(6), 825; https://doi.org/10.3390/s16060825 - 4 Jun 2016
Cited by 82 | Viewed by 10363
Abstract
Modern infrastructure, such as dense urban areas and underground tunnels, can effectively block all GPS signals, which implies that effective position triangulation will not be achieved. The main problem that is addressed in this project is the design and implementation of an accurate [...] Read more.
Modern infrastructure, such as dense urban areas and underground tunnels, can effectively block all GPS signals, which implies that effective position triangulation will not be achieved. The main problem that is addressed in this project is the design and implementation of an accurate vehicle location system using radio-frequency identification (RFID) technology in combination with GPS and the Global system for Mobile communication (GSM) technology, in order to provide a solution to the limitation discussed above. In essence, autonomous vehicle tracking will be facilitated with the use of RFID technology where GPS signals are non-existent. The design of the system and the results are reflected in this paper. An extensive literature study was done on the field known as the Internet of Things, as well as various topics that covered the integration of independent technology in order to address a specific challenge. The proposed system is then designed and implemented. An RFID transponder was successfully designed and a read range of approximately 31 cm was obtained in the low frequency communication range (125 kHz to 134 kHz). The proposed system was designed, implemented, and field tested and it was found that a vehicle could be accurately located and tracked. It is also found that the antenna size of both the RFID reader unit and RFID transponder plays a critical role in the maximum communication range that can be achieved. Full article
(This article belongs to the Special Issue Sensors for Autonomous Road Vehicles)
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