Abstract: A system for drilling a borehole according to the present invention includes a drill rig and a control system. The drill rig includes a drill, an air injection system and a water injection system. The control system, which is operatively associated with the drill rig, receives information from the drill rig that relates to at least one drill parameter. The control system processes information relating to the drill parameter, determines whether the drill parameter is within a predetermined specification for the monitored drill parameter, chooses a hole defect mitigation routine based on the monitored drill parameter when the monitored drill parameter is outside the predetermined specification, and controls the drill rig to implement the chosen hole defect mitigation routine.

Abstract: A dynamic jack reference control system may include a tilt sensor operatively associated with the vehicle so that the tilt sensor senses a tilt angle of the vehicle. A processor operatively connected to the tilt sensor produces a jack reference value based on the tilt angle of the vehicle. A speed controller operatively associated with the processor extends the at least one jack on the vehicle at a speed that is related to the jack reference value.

Abstract: A payload management system embodiment may include a force sensing system operatively associated with a bucket of an excavator. The force sensing system senses a magnitude of a force required to hold the bucket at a defined position with respect to a reference datum. An angle sensing system operatively associated with the bucket senses a direction of the force with respect the reference datum. A processing system operatively associated with the force system and the angle sensing system processes data relating to the magnitude of the force and the direction of the force to determine the amount of the payload in the bucket.

Abstract: A method of calibrating strain sensors operatively associated with a machine may involve the steps of: Calculating, for each of n loading conditions, at least one structural load associated with at least one member of the machine to produce n calculated structural loads corresponding to the n loading conditions; measuring, for each of n machine positions, at least one strain associated with the at least one member of the machine to produce n measured strains corresponding to the n loading conditions; and determining curve fit parameters from said n calculated structural loads and said n measured strains, the curve fit parameters relating measured strain and structural loads over n loading conditions.

Abstract: A system for drilling a borehole according to the present invention includes a drill rig and a control system. The drill rig includes a drill, an air injection system and a water injection system. The control system, which is operatively associates with the drill rig, receives information from the drill rig that relates to at least one drill parameter. The control system processes information relating to the drill parameter, determines whether the drill parameter is within a predetermined specification for the monitored drill parameter, chooses a hole defect mitigation routine based on the monitored drill parameter when the monitored drill parameter is outside the predetermined specification, and controls the drill rig to implement the chosen hole defect mitigation routine.

Abstract: A method for controlling an autonomous vehicle. Data relating to a plurality of proposed vehicle locations is received and a simulated vehicle path based on the received data is generated. A simulated vehicle orientation for at least one point on the simulated vehicle path is determined and presented in a user-discernable form. User verification of the simulated vehicle orientation for at least one point on the simulated vehicle path is received. Approved vehicle control commands from the simulated vehicle path and simulated vehicle orientation are produced such that the approved vehicle control commands control the autonomous vehicle to follow the simulated vehicle path and the simulated vehicle orientation.

Abstract: A method for calibrating strain transducers mounted to a power shovel may include the steps of: Calculating at least one member joint load for a known loading condition when at least one member of the power shovel is in a statically determinate configuration; determining a calculated shear force and a calculated normal force in the member of the power shovel based on the calculated member joint load; measuring a strain in the member; determining a measured shear force and a measured normal force for the member based on the measured strain; and determining a calibration constant from the calculated shear and normal forces and the measured shear and normal forces.

Abstract: A method for controlling an autonomous vehicle includes: Receiving data relating to a plurality of proposed vehicle locations; generating a simulated vehicle path based on the received data; determining a simulated vehicle orientation for at least one point on the simulated vehicle path; presenting at least the simulated vehicle orientation in a user-discernable form; receiving a user verification of the simulated vehicle orientation for at least one point on the simulated vehicle path; and producing approved vehicle control commands from the simulated vehicle path and simulated vehicle orientation, the approved vehicle control commands controlling the autonomous vehicle to follow the simulated vehicle path and the simulated vehicle orientation.

Abstract: A method of determining a load on at least one member of a power shovel may include the steps of: sensing a strain in a boom of the power shovel; determining a plurality of member joint loads based on strain sensed in the boom; and determining the load on the at least one member of the power shovel from the plurality of member joint loads.

Abstract: A method of optimizing machine performance in a plurality of load cases. According to the present invention, a maximum load case, which involves application of a maximum force to at least one member of a machine, is determined for the machine. For each of a plurality of member joints of the machine, a maximum member joint load is determined for the maximum load case for the machine. The machine is then operated by applying a force to the at least one member of the machine in each of the plurality of load cases so as not to exceed the maximum member joint load while exceeding the maximum force during at least one of the plurality of load cases.

Abstract: A computer-readable medium including program instructions for drilling a borehole. When the program instructions are executed by one or more processors of a computer system operatively associated with a drill rig, the program instructions cause the processor to carry out the steps of initiating a drilling phase and monitoring a drill parameter during the drilling phase. The drill parameter includes at least one of drill rotational speed, drill torque or number of drill retractions. The program instructions further cause the processor to carry out the step of determining whether the monitored drill parameter is within a predetermined specification for the monitored drill parameter in order to choose a drilling phase defect mitigation routine. After implementing the drilling phase defect mitigation routine, the processors carry out the step of resuming the drilling phase.

Abstract: A dynamic jack reference control system may include a tilt sensor operatively associated with the vehicle so that the tilt sensor senses a tilt angle of the vehicle. A processor operatively connected to the tilt sensor produces a jack reference value based on the tilt angle of the vehicle. A speed controller operatively associated with the processor extends the at least one jack on the vehicle at a speed that is related to the jack reference value.

Abstract: A system for drilling a borehole according to the present invention includes a control system and a drill rig, including a water injection system and an air injection system. The control system receives information from the drill rig that relates to at least one drill parameter. The control system processes information relating to the drill parameter, determines whether to implement a hole defect mitigation routine, including a drilling phase defect mitigation routine or a retraction phase defect mitigation routine following completion of the drilling phase. The control system determines whether the drill parameter is within a predetermined specification for the monitored drill parameter, chooses a hole defect mitigation routine based on the monitored drill parameter when the monitored drill parameter is outside the predetermined specification, and controls the drill rig to implement the chosen hole defect mitigation routine.

Abstract: A method for determining when at least one jack on a vehicle has contacted the ground, in which the vehicle includes a first jack mounted to a first end of the vehicle and a pair of jacks mounted to a second end of the vehicle. The method includes the steps of: determining an initial pitch angle of the vehicle before any of the jacks have contacted the ground; combining the initial pitch angle with a pitch setpoint value to create a resultant pitch value; sensing a pitch angle and a roll angle of the vehicle; extending the first jack mounted at the first end of the vehicle while monitoring the pitch angle of the vehicle; and determining that the first jack has contacted the ground by comparing the monitored pitch angle of the vehicle with the resultant pitch value.

Abstract: A bearing lubrication system for providing supplemental lubrication to a bearing mounted within a bearing housing may include a pump having an inlet and an outlet. The inlet of the pump is fluidically connected to a lubricating fluid sump, whereas the outlet of the pump is fluidically connected to the bearing. A pump control system operatively connected to the pump operates the pump on an intermittent basis to provide a controlled amount of lubricating fluid to the bearing.

Abstract: A method for controlling an autonomous vehicle includes: Receiving data relating to a plurality of proposed vehicle locations; generating a simulated vehicle path based on the received data; determining a simulated vehicle orientation for at least one point on the simulated vehicle path; presenting at least the simulated vehicle orientation in a user-discernable form; receiving a user verification of the simulated vehicle orientation for at least one point on the simulated vehicle path; and producing approved vehicle control commands from the simulated vehicle path and simulated vehicle orientation, the approved vehicle control commands controlling the autonomous vehicle to follow the simulated vehicle path and the simulated vehicle orientation.

Abstract: A method of optimizing machine performance in a plurality of load cases may involve the steps of: Determining a maximum load case for the machine, the maximum load case involving the application of a maximum force to at least one member of the machine; determining, for each of a plurality of member joints of the machine, a maximum member joint load for the maximum load case for the machine; and operating the machine by applying a force to the at least one member of the machine in each of the plurality of load cases so as not to exceed the maximum member joint load, the applied force exceeding the maximum force during at least one of the plurality of load cases.

Abstract: A method for determining when at least one jack on a vehicle has contacted the ground, in which the vehicle includes a first jack mounted to a first end of the vehicle and a pair of jacks mounted to a second end of the vehicle. The method includes the steps of: determining an initial pitch angle of the vehicle before any of the jacks have contacted the ground; combining the initial pitch angle with a pitch setpoint value to create a resultant pitch value; sensing a pitch angle and a roll angle of the vehicle; extending the first jack mounted at the first end of the vehicle while monitoring the pitch angle of the vehicle; and determining that the first jack has contacted the ground by comparing the monitored pitch angle of the vehicle with the resultant pitch value.

Abstract: A system for drilling a borehole according to the present invention includes a control system and a drill rig, including a water injection system and an air injection system. The control system receives information from the drill rig that relates to at least one drill parameter. The control system processes information relating to the drill parameter, determines whether to implement a hole defect mitigation routine, including a drilling phase defect mitigation routine or a retraction phase defect mitigation routine following completion of the drilling phase. The control system determines whether the drill parameter is within a predetermined specification for the monitored drill parameter, chooses a hole defect mitigation routine based on the monitored drill parameter when the monitored drill parameter is outside the predetermined specification, and controls the drill rig to implement the chosen hole defect mitigation routine.

Abstract: A payload management system embodiment may include a force sensing system operatively associated with a bucket of an excavator. The force sensing system senses a magnitude of a force required to hold the bucket at a defined position with respect to a reference datum. An angle sensing system operatively associated with the bucket senses a direction of the force with respect the reference datum. A processing system operatively associated with the force system and the angle sensing system processes data relating to the magnitude of the force and the direction of the force to determine the amount of the payload in the bucket.