Skip directly to site content Skip directly to page options Skip directly to A-Z link Skip directly to A-Z link Skip directly to A-Z link


Centers for Disease Control and Prevention. CDC twenty four seven. Saving Lives, Protecting People
Search
            ×
                        Mining
                        Mining
                            NIOSH
                            All CDC
                    Submit
                For a full list of topics:A-Z Index
                Advanced Search
            Advanced Search


The National Institute for Occupational Safety and Health (NIOSH)





Mining Contract: Snake Robot for Mine Rescue
Keywords: Boreholes Communications, location tracking, and signalling Computer simulation Monitoring Rescue 
 Underground mining
This page is archived for historical purposes and is no longer being maintained or updated.
Contract #
200-2009-30721Start Date
8/10/2009End Date
6/30/2012Research Concept
In mine rescue operations the ability to rapidly locate trapped miners and assess their situation (vital signs, air quality, etc.) is of the essence. Locating personnel trapped in the mine and delivering initial aid requires that reconnaissance equipment be lowered to the mine via a narrow vertical borehole, up to 2,000 ft long. Currently available robots either cannot fit through such a narrow (4 to 5 in dia) access port, or cannot deliver the mobility and sensing capabilities that is required to assess the situation and determine the location and vital status of trapped miners.Topic Area
Rescue Technologies and Training
Contract Status & Impact
This contract is complete. To receive a copy of the final report, send a request to mining@cdc.gov.

Sarcos Snake Robot (click photo for larger image)
After a large-scale mine fire or explosion, a borehole is often drilled into the mine and a camera is lowered into the borehole for the purpose of a limited visual inspection. Following this, a tubing string is installed down the borehole to determine the atmospheric conditions at that specific location in the mine. The ability to provide visual inspection and measurement of atmospheric conditions beyond the borehole location itself is critical to improve the quality data needed and used by rescue operations for decisionmaking.
In August 2009, a contract was awarded to Raytheon Sarcos to leverage its ongoing development of the new generation tandem track snake robot, by modifying this system in a way to make it suitable for operations in underground mines. Raytheon Sarcos had successfully demonstrated the functionality and utility of the snake robot technology under a Defense Advanced Research Projects Agency (DARPA) funded contract. The company also began development of the next generation of a new class of snake-inspired robots that had unprecedented multi-dimensional mobility and maneuverability in a broad range of terrains and environments.
Under this contract, the design constraints for the snake robot included: ability to move at 1 to 2 miles per hour in the mine opening; maintain mobility through a debris field, including mud and standing water; operate tethered with cabling of sufficient strength to be lowered vertically 2,000 ft through a borehole, sized to fit inside a 4-in-diameter borehole; ability to detect oxygen, methane, carbon monoxide, and temperature; enable two-way voice communication; provide 200-ft minimum lateral illumination with color and infrared video; receive power through onboard batteries and the tether cable.
In fiscal year 2013, the construction of the snake robot was completed along with lab testing. Robot performance was also evaluated in an OMSHR test mine. The in-mine evaluations involved three robot operator scenarios. In the first evaluation, the robot operator trailed the robot in the mine to permit the operator to become familiar with the mine conditions; in the second evaluation, the robot operator was located in the mine, but out of sight of the robot; in the final evaluation, the robot operator was located on the surface and the robot was lowered into the mine via a borehole. In each case, the robot successfully navigated obstacle courses designed to simulate post-event debris.

See Also
Effects of Far-Field Shearing Deformation on Fracturing Around an Underground Opening
Performance Comparison of Rescue Breathing Apparatus
Preventing Injuries Caused by Unrecognized Stone Mine Roof Beam Failures With a Pro-Active Roof Control Plan
Refuge Alternatives in Underground Coal Mines
SPONCOM - A Computer Program for the Prediction of the Spontaneous Combustion Potential of an Underground Coal Mine
SponCom - Spontaneous Combustion Assessment Software - 2.0
Technology News 545 - NIOSH Updates Spontaneous Combustion Assessment Software
Technology Upgrade of the Sarcos Snake Robot
Underground Mine Communications, Control and Monitoring
Water and Slurry Bulkheads in Underground Coal Mines: Design, Monitoring, and Safety Concerns
Page last reviewed: January 11, 2017
Page last updated: July 18, 2014
Content source: National Institute for Occupational Safety and Health, Mining Program
Facebook
        Twitter
        LinkedIn
        Syndicate Mining
        Site BrowserSafety and Health TopicsData & StatisticsMethodologyMine DisastersMSHA Data FilesMine & Mineworker ChartsTools & PublicationsTools You Can UsePublicationsNews & ArticlesResearch ProgramNORA Mining CouncilStrategic PlanMining Program, 2019-2023Miner Health Program, 2020-2030ProjectsContractsFunding OpportunitiesMining LinksAbout UsContact NIOSH MiningEmploymentFacilitiesHistoryVisitor Information Rescue Technologies and Training
 NIOSH Homepage
 NIOSH A-Z
Workplace Safety & Health Topics
Publications and Products
Programs


About CDC
					Contact Us
					800-232-4636
 Facebook Twitter Instagram LinkedIn Youtube Pinterest Snapchat
 CONTACT CDC
				Contact Us
							Call 800-232-4636
							Email Us
			ABOUT CDC
				About CDC
							Jobs
							Funding
			POLICIES
				Accessibility
							External Links
							Privacy
							Policies
							No Fear Act
							FOIA
							OIG
							Nondiscrimination
							Vulnerability Disclosure Policy
			CONNECT WITH US
				Facebook
								Twitter
								Instagram
								LinkedIn
							Youtube
								Pinterest
								Snapchat
								Email
			LANGUAGES
				Español
							繁體中文
							Tiếng Việt
							한국어
							Tagalog
							Русский
							العربية
							Kreyòl Ayisyen
							Français
							Polski
							Português
							Italiano
							Deutsch
							日本語
							فارسی
							English


U.S. Department of Health & Human Services
			Accessibility
			External Links
			Privacy
			Policies
			No Fear Act
			FOIA
			Nondiscrimination
			OIG
			Vulnerability Disclosure Policy
			USA.gov


Exit Notification / Disclaimer Policy Close
 Links with this icon  indicate that you are leaving the CDC website. The Centers for Disease Control and Prevention (CDC) cannot attest to the accuracy of a non-federal website.
				Linking to a non-federal website does not constitute an endorsement by CDC or any of its employees of the sponsors or the information and products presented on the website.
				You will be subject to the destination website's privacy policy when you follow the link.
				CDC is not responsible for Section 508 compliance (accessibility) on other federal or private website. Website Disclaimers
 Cancel Continue