Abstract: A system for monitoring movement in a subsurface environment, which may be used to determine flow dynamics within a fluid mass such as an ore body, or track subsurface persons or moving assets. A plurality of underground positioning system (UPS) elements in the subsurface environment transmit characteristic signals to a plurality of antennas, which transmit the signals to a data processing apparatus. The system thus determines changes in the positions of the UPS elements to derive an indication of the motion of the fluid mass or the locations and movement of subsurface persons or assets.

Abstract: An underwater optical communications system and method particularly suitable for use in communications with automated equipment. A series of light beacons are dispersed throughout a communications zone. The light beacons are each provided with a plurality of light-emitting elements and light receiving elements which are positioned so that each beacon within the communications zone emits light in a plurality of directions and receives light from a plurality of directions. A submersible craft is similarly provided with light emitting elements and light receiving elements. The submersible craft is thus always in optical communication with one or more beacons when in the communications zone, regardless of the orientation of the craft and regardless of the position of the craft within the communications zone.

Abstract: A system for monitoring movement in a subsurface environment, which may be used to determine flow dynamics within a fluid mass such as an ore body, or track subsurface persons or moving assets. A plurality of underground positioning system (UPS) elements in the subsurface environment transmit characteristic signals to a plurality of antennas, which transmit the signals to a data processing apparatus. The system thus determines changes in the positions of the UPS elements to derive an indication of the motion of the fluid mass or the locations and movement of subsurface persons or assets.

Abstract: An underwater optical communications system and method particularly suitable for use in communications with automated equipment. A series of light beacons are dispersed throughout a communications zone. The light beacons are each provided with a plurality of light-emitting elements and light receiving elements which are positioned so that each beacon within the communications zone emits light in a plurality of directions and receives light from a plurality of directions. A submersible craft is similarly provided with light emitting elements and light receiving elements. The submersible craft is thus always in optical communication with one or more beacons when in the communications zone, regardless of the orientation of the craft and regardless of the position of the craft within the communications zone.

Abstract: A system for automatically steering a vehicle through an irregular structure. A flexible lighting tube, in proximity to the back of the structure, communicates with at least one canted video camera. A processor takes the output of the camera, determines the position of the vehicle, and provides guidance to the vehicle's steering mechanism.