A Computerized Continuous Mining Machine for Autonomous Mining Research.
Paper in Proceedings of the Ninth WVU Internat'lmining Electrotechnology Conf Morgantown WV :7 pages
The U.S. Bureau of Mines has developed a testbed for performing autonomous mining machine experiments. A continuous mining machine has been modified with a computer system and instrumented with various sensors to monitor machine movements and conditions. The computer hardware is based on a multibus I system and utilizes a modified irm x 86 operating system. Various application software programs have been developed by the Bureau for monitoring and controlling the continuous mining machine. At this time tests have been completed for computer control of the mining machine's appendages. Open-loop tests were conducted to characterize the motion of each appendage. From these data, closed-loop control algorithms were formulated. Machine tests in free space and in the cutting of a simulated block of coal verified the closed-loop control algorithms. The closed-loop control algorithm is discussed in detail, as are other factors that must be considered from a control standpoint.
Paper in Proceedings of the Ninth WVU Internat'lmining Electrotechnology Conf. Morgantown, WV