Log Day 46
021010
Sealing of the Saxman/Quecreek breach is one more twist in the road toward robotic mine mapping. There is no value in cheering or bemoaning the reality of events. In a way there is comfort in confrontation of a literal and figurative “stone wall”. With game plan A (entry to Saxman through the breach) thwarted, we turn to game plan B (entry through borehole).
I did not participate in today’s DEP safety review, whose details were broadcast earlier to m-map. The following is uncalibrated, third-party commentary…..
The batteries may need to be explosion proofed – Sealed GelCells and XP enclosures are viable. Let’s address the first inquiry about this to Crown Battery. I will call.
If the machine is abandoned in place how will we remove the explosive potential of the batteries.--- Any chemical battery has innate drainage, however small, and one approach might be to have the slowest drainage possible over the longest duration viable. Greater drainage rates are easy to contrive. --- Let’s address the first inquiry about this to Crown Battery. I will call.
We must find out if the environmental sensors will work in abandoned mine conditions from the manufacturer. This means that the sensors may not be calibrated to work in low oxygen environments that may exist in the mines. --- The manufacturer is world-class, and is local. If this information is known, then obtaining it will be a pleasure. If it is not known, the research agenda is straightforward. I mean that the course of action is apparent, not that the action for generating the data is trivial. This is purpose for our extended technical family.
Miners lights are not qualified as explosion proof and would not be permissible lighting within the abandoned mine. --- XP lighting is one answer. I propose that we begin inquiry with MSA and with Joy. ---- operating without lighting is an appealing answer for a robot. The lighting is essentially for human viewing, which is there, in part, at the request of MSHA.
Safety shutdowns of equipment are not to be remotely reset in a mine. --- This means that shutdown is the deathknell for any failed equipment. Another phrasing is that failed equipment is lost equipment. CMU is comfortable with this. This drives requirements for reliability and autonomy. The robotics community must leap beyond the old lip service for reliability and autonomy, and deliver viable mine exploration robots. We are unique in the world for this great challenge. Rise up.
Any equipment working at the face near a breach must be BFE .(Bituminous Face Equipment) Certified. --- In order to achieve this goal we will have to achieve a 2G device number from MSHA before submitting the package for review at the state level. --- OK, so next step is to earn the 2G rating.
The BFE number would only allow us to go to the face and not through the breach. The approval to proceed into an abandoned mine will have to come from higher up in DEP. --- OK, DEP is now exhibiting leadership at the highest level in the matter of robotic mine mapping. In time DEP will do the right thing and approve robot mapping of abandoned mines. When it happens, the right thing will be seen as technical, operational and explorational courage. However, by that time, issues will have been resolved and revisited to the extent that risk will have been eliminated and questions answered to unprecedented degree. Approval will be procedural, not committing.
There is no precedence for this kind of work. --- Agreed. That is the nature of true invention, research and exploration. Much else is a sham in the veil of research, or is uncommitting action, with nothing at stake. It is work worth doing, and work that makes the difference. It is the only lifework that I’d consider. Welcome to any who share the journey.
Submission to the state will be in the form of a letter and a submittal package which should include Schematics, Cut sheets, Drawings and Operations Manual. --- I look forward to the submissions, reviews and iterations.