IC 9198 A Testbed For Autonomous Mining Machine Experiments

The Bureau of Mines is conducting research that is aimed at making the mining industry more efficient in term of both productivity and the health and safety of the worker. As part of this research the Bureau of Mines has integrated a testbed composed of computer and related peripheral hardware to form an intelligent base for performing autonomous mining machine experiments. Although this particular application was con- figured for use on a Joy 16 CM mining machine, its generic structure facilitates its attachment to a variety of mining machine types. The multitasking multiuser computer can be set up for other applications by changing a bubble memory cartridge. The Joy 16 CM implementation includes 96 digital input-output (1-0) ports, 32 analog inputs, 8 analog outputs, 2 serial data channels, and 1 printer port. Operation of the machine can be performed either through a local terminal or remotely through a modem hookup. This report describes a testbed for autonomous mining machine experiments (TAMME)--its hardware, software, and complete system integration--so that it can be used as a foundation for other applications.