Provision of feedback on the contact of powered walking roof support legs with the ground
M.S. Nikitenko1, D.Yu. Khudonogov1, N.V. Ababkov2, Ya.V. Popinako1
1 Federal Research Center of Coal and Coal Chemistry of Siberian Branch of the Russian Academy of Sciences, Kemerovo, Russian Federation
2 T.F. Gorbachev Kuzbass State Technological University, Kemerovo, Russian Federation
Russian Mining Industry №6/ 2025 p. 181-186
Abstract: This research focuses on a method to provide feedback on the ground contact of the hydraulic legs of a powered walking roof support prototype. The study involves modeling and prototyping of a hardware-and-software system designed to detect leg contact with the mine ground using strain gauge measurements. The core problem addressed is a limited applicability of the industrial ultrasonic, optical, capacitive, and pressure sensors for this specific task. This limitation explains the need for improvement of existing structural health monitoring approaches and their integration into the control system of the support's electro-hydraulic valves to establish reliable feedback. The primary objective was to develop a complete hardware-and-software complex to detect ground contact of the legs for a prototype of a hydraulic powered walking roof support. The methodology employed includes system- function modeling according to the IDEF0 standard, experimental research methods, hardware-in-the-loop testing, algorithm debugging, digital signal processing, mathematical statistics, and the strain gauge method to monitor the stress-and-strain state of the structures. Removable strain transducers based on arched elastic elements with temperature-compensated semiconductor strain gauges were used to register the stress-and-strain state. As a result of the work, a system-function model of the measurement process for the support legs and cross-beams was developed. Furthermore, a methodology for detecting ground contact was established, along with the corresponding software and hardware for its implementation. The study concludes that feedback for the control system can be efficiently provided based on the data of strain gauge measurements, offering a viable alternative to conventional sensor technologies.
Keywords: mining operations, drifting, automated control, monitoring system, powered walking roof support, ground contact
Acknowledgements: The work was carried out within the framework of the state assignment of the Federal Research Center for Coal and Coal Chemistry of the Siberian Branch of the Russian Academy of Sciences, project FWEZ-2024-0025 “Development of scientific foundations for the creation of autonomous and automated mining machines, equipment, technical and control systems based on promising digital and robotic technologies (prolongation)”.
For citation: Nikitenko M.S., Khudonogov D.Yu., Ababkov N.V., Popinako Ya.V. Provision of feedback on the contact of powered walking roof support legs with the ground. Russian Mining Industry. 2025;(6):181–186. (In Russ.) https://doi.org/10.30686/1609-9192-2025-6-181-186
Article info
Received: 02.09.2025
Revised: 27.10.2025
Accepted: 10.11.2025
Information about the authors
Mikhail S. Nikitenko – Cand. Sci. (Eng.), Head of Laboratory for Advanced Control Methods of Mining Engineering Systems, Federal Research Center of Coal and Coal Chemistry of Siberian Branch of the Russian Academy of Sciences, Kemerovo, Russian Federation; https://orcid.org/0000-0001-8752-1332; e-mail: This email address is being protected from spambots. You need JavaScript enabled to view it.
Danila Yu. Khudonogov – Research Scientist, Federal Research Center of Coal and Coal Chemistry of Siberian Branch of the Russian Academy of Sciences, Kemerovo, Russian Federation; https://orcid.org/0000-0002-0208-790X; e-mail: This email address is being protected from spambots. You need JavaScript enabled to view it.
Nikolay V. Ababkov – Cand. Sci. (Eng.), Head of the Department of Mechanical Engineering Technology, T.F. Gorbachev Kuzbass State Technological University, Kemerovo, Russian Federation; https://orcid.org/0000-0003-0794-8040; e-mail: This email address is being protected from spambots. You need JavaScript enabled to view it.
Yaroslav V. Popinako – Engineer, Federal Research Center of Coal and Coal Chemistry of Siberian Branch of the Russian Academy of Sciences, Kemerovo, Russian Federation; https://orcid.org/0009-0007-2788-6074; e-mail: This email address is being protected from spambots. You need JavaScript enabled to view it.
References
1. Wang Z., Bi L., Li J., Wu Z., Zhao Z. Development status and trend of mine intelligent mining technology. Mathematics. 2025;13(13):2217. https://doi.org/10.3390/math13132217
2. Chakravorty A. Underground robots: How robotics is changing the mining industry. Eos. 13 May 2019. https://doi.org/10.1029/2019EO121687
3. Grehl S., Mischo H., Jung B. Research perspective – mobile robots in underground mining: Using robots to accelerate mine mapping, create virtual models, assist workers and increase safety. AusIMM Bulletin. 2017;(2):44–47.
4. Demin V.F., Tomilov A.N. Development of effective methods for fastening development workings using anchor fastening. Universitet Enbekteri – University Proceedings. 2017;(3):44–47.
5. Batyrkhanova A.T., Demin V.F. Identification of patterns for calculating the stability of mine workings from the parameters of anchor fastening. Universitet Enbekteri – University Proceedings. 2018;(1):48–51.
6. Klishin V.I., Malakhov Yu.V. Development and justification of the parameters of a multifunctional walking support. Naukoemkie Tekhnologii Razrabotki i Ispolzovaniya Mineralnykh Resursov. 2019;(5):125–131.
7. Klishin V.I., Malakhov Yu.V., Nikitenko S.M., Starodubov A.N., Nikitenko M.S. Mechanized walking support as a platform for creating highly efficient tunneling and cleaning complexes. In: Aldoshin S.M. (ed.) Development of the productive forces of Kuzbass: history, modern experience, strategy for the future: materials of the international scientific and practical conference, Moscow, November 17–23, 2023. Moscow: Russian Academy of Sciences; 2024. Vol. 1. P. 192–210.
8. Khudonogov D.Yu., Kizilov S.A., Nikitenko M.S. Mechanized walking support thrust uniformity maintenance with matched timing control signals. Bulletin of the Kuzbass State Technical University. 2024;(6):95–102. https://doi.org/10.26730/1999-4125-2024-6-95-102
9. Mathew S., Chintagumpala K. A review of recent progress in flexible capacitance pressure sensors: materials design, printing methods, and applications. Advanced Composites and Hybrid Materials. 2025;8(3):236. https://doi.org/10.1007/s42114-25-01304-2
10. Garcia-Pueyo J., Cartiel S., Bacher E., Laurenzis M., Muñoz A. Time-of-flight signal processing for FTIR-based tactile sensors. Optics Express. 2025;33(18):38909–38925. https://doi.org/10.1364/OE.570548
11. Liao Z. The application of touch sensors. Applied and Computational Engineering. 2024;89:76–81. https://doi.org/10.54254/2755-2721/89/20241103
12. Rudachenko A.V., Saruev A.L. Investigation of the stress-strain state of pipelines. Tomsk: Tomsk Polytechnic University Publishing House; 2011. 136 p. (In Russ.)
13. Lysenko S.A., Chernenko Ya.D., Petrov G.D. Strain gauge monitoring of structures. NDT World. 2001;(4):21–23.
14. Abanin V.A. (ed.). Force strain gauges and their application in force and weight measuring technology. Barnaul: Altai State Technical University Publishing House; 2004. 90 p. (In Russ.)
15. Nikitenko M.S. Evaluation of elements loading in the metal structures of powered support units. IOP Conference Series: Earth and Environmental Science. 2016;45:012007. https://doi.org/10.1088/1755-1315/45/1/012007
16. Stepanova L.N., Kabanov S.I., Bekher S.A., Nikitenko M.S. Microprocessor multi-channel strain-gauge systems for dynamic tests of structures. Automation and Remote Control. 2013;74(5):891–897. https://doi.org/10.1134/S0005117913050135
17. Stepanova L.N., Lebedev E.Yu., Kabanov S.I., Kanifadin K.V., Bekher S.A., Nikitenko M.S. Studies of characteristics of wire and semiconductor strain gauges used for a measurement of shock processes. Sensors and Systems. 2013;(1):28–33.
18. Sun D., Chen Q., Li A., Yang Y. Anelastic strain recovery in situ stress measurement method and its application prospect in underground mines. IOP Conference Series: Earth and Environmental Science. 2020;570:042021. https://doi.org/10.1088/1755-1315/570/4/042021
19. Sun D., Wang L.-J., Zhao W.-Н., Wang H.-С. The application of in-situ stress measurement to the study of coal and gas outburst in coal mines. Geology in China. 2010;37(1):223–228.
20. Lomakin V.V., Putivtseva N.P., Zaitseva T.V., Liferenko M.V., Zaitsev I.M. Multi-critera selection of a corporate system by using paired comparison analysis. Journal of Fundamental and Applied Sciences. 2017;9(7S):1472–1482. Available at: http://dspace.bsuedu.ru/bitstream/123456789/31077/1/Lomakin_Multi-critera.pdf (accessed: 15.09.2025).
21. Nikitenko M.S. Elastic element sensor selection for industrial construction stress control system. Kontrol’. Diagnostika. 2012;(9):42–45.
