Abstract: This disclosure relates to navigation of an underground mining machine. A laser range finder captures first and second 3D point clouds of first and second overlapping parts of the underground mine from first and second positions of the mining machine respectively. A processor determines a first set of candidates for rock bolts as point feature objects from the first 3D point cloud; determines a second set of candidates for rock bolts as point feature objects from the second 3D point cloud; determines an alignment between first shapes defined by at least two of the first set of candidates for rock bolts and second shapes defined by at least two of the second set of candidates for rock bolts; and determines relative location information between the first position of the mining machine and the second position of the mining machine based on the alignment.

Abstract: Described herein is a device (1) for measuring parameters of a material (3) flowing along a passage (5), the passage having two longitudinally spaced apart ends and transverse sides defined by one or more sidewalls (7, 9). The device (1) includes a laser source (15) positioned at a first location within or adjacent a side of the passage (5) and configured to generate a laser beam (17) at one or more predetermined frequencies. A beam projection element (21, 27) projects the laser beam (17) transversely across the passage (5) to irradiate the material (3) within a measuring zone (19). The measuring zone (19) includes a transverse region extending greater than 50% of the width of the passage (5). An optical imaging device (29) is positioned at a second location within or adjacent the passage (5) and configured to capture images of backscattered light from material (3) within the measuring zone (19).

Abstract: This disclosure relates to an underground mining vehicle comprising a three-axis MEMS gyroscope rotatable about a rotation axis and a gyroscope interface that calculates a first rotation rate bias with respect to a first axis different to the rotation axis, a second rotation rate bias with respect to a second axis different to the first axis and different to the rotation axis, a rotation rate about the rotation axis based on the Earth rotation rate vector by correcting the rotational measurement data using the first rotation rate bias and the second rotation rate bias and a third rotation rate bias with respect to the rotation axis based on the calculated rotation rate about the rotation axis. A navigation unit receives the first rotation rate bias, the second rotation rate bias and the third rotation rate bias and calculates a pose of the vehicle.

Abstract: Described herein is a device (1) for measuring parameters of a material (3) flowing along a passage (5), the passage having two longitudinally spaced apart ends and transverse sides defined by one or more sidewalls (7, 9). The device (1) includes a laser source (15) positioned at a first location within or adjacent a side of the passage (5) and configured to generate a laser beam (17) at one or more predetermined frequencies. A beam projection element (21, 27) projects the laser beam (17) transversely across the passage (5) to irradiate the material (3) within a measuring zone (19). The measuring zone (19) includes a transverse region extending greater than 50% of the width of the passage (5). An optical imaging device (29) is positioned at a second location within or adjacent the passage (5) and configured to capture images of backscattered light from material (3) within the measuring zone (19).

Abstract: This disclosure relates to an underground mining vehicle comprising a three-axis MEMS gyroscope rotatable about a rotation axis and a gyroscope interface that calculates a first rotation rate bias with respect to a first axis different to the rotation axis, a second rotation rate bias with respect to a second axis different to the first axis and different to the rotation axis, a rotation rate about the rotation axis based on the Earth rotation rate vector by correcting the rotational measurement data using the first rotation rate bias and the second rotation rate bias and a third rotation rate bias with respect to the rotation axis based on the calculated rotation rate about the rotation axis. A navigation unit receives the first rotation rate bias, the second rotation rate bias and the third rotation rate bias and calculates a pose of the vehicle.

Abstract: A network apparatus is provided that may include one or more security accelerators. The network apparatus also includes a plurality of network units cascaded together. According to one embodiment, the plurality of network units comprise a plurality of content based message directors, each to route or direct received messages to one of a plurality of application servers based upon the application data in the message. According to another embodiment, the plurality of network units comprise a plurality of validation accelerators, each validation accelerator to validate at least a portion of a message before outputting the message.

Abstract: A network apparatus is provided that may include one or more security accelerators. The network apparatus also includes a plurality of network units cascaded together. According to one embodiment, the plurality of network units comprise a plurality of content based message directors, each to route or direct received messages to one of a plurality of application servers based upon the application data in the message. According to another embodiment, the plurality of network units comprise a plurality of validation accelerators, each validation accelerator to validate at least a portion of a message before outputting the message.

Abstract: A network apparatus is provided that may include one or more security accelerators. The network apparatus also includes a plurality of network units cascaded together. According to one embodiment, the plurality of network units comprise a plurality of content based message directors, each to route or direct received messages to one of a plurality of application servers based upon the application data in the message. According to another embodiment, the plurality of network units comprise a plurality of validation accelerators, each validation accelerator to validate at least a portion of a message before outputting the message.

Abstract: A network apparatus is provided that may include one or more security accelerators. The network apparatus also includes a plurality of network units cascaded together. According to one embodiment, the plurality of network units comprise a plurality of content based message directors, each to route or direct received messages to one of a plurality of application servers based upon the application data in the message. According to another embodiment, the plurality of network units comprise a plurality of validation accelerators, each validation accelerator to validate at least a portion of a message before outputting the message.

Abstract: A network apparatus is provided that may include one or more security accelerators. The network apparatus also includes a plurality of network units cascaded together. According to one embodiment, the plurality of network units comprise a plurality of content based message directors, each to route or direct received messages to one of a plurality of application servers based upon the application data in the message. According to another embodiment, the plurality of network units comprise a plurality of validation accelerators, each validation accelerator to validate at least a portion of a message before outputting the message.

Abstract: A network apparatus is provided that may include one or more security accelerators. The network apparatus also includes a plurality of network units cascaded together. According to one embodiment, the plurality of network units comprise a plurality of content based message directors, each to route or direct received messages to one of a plurality of application servers based upon the application data in the message. According to another embodiment, the plurality of network units comprise a plurality of validation accelerators, each validation accelerator to validate at least a portion of a message before outputting the message.

Abstract: A network apparatus is provided that may include one or more security accelerators. The network apparatus also includes a plurality of network units cascaded together. According to one embodiment, the plurality of network units comprise a plurality of content based message directors, each to route or direct received messages to one of a plurality of application servers based upon the application data in the message. According to another embodiment, the plurality of network units comprise a plurality of validation accelerators, each validation accelerator to validate at least a portion of a message before outputting the message.

Abstract: A network apparatus is provided that may include one or more security accelerators. The network apparatus also includes a plurality of network units cascaded together. According to one embodiment, the plurality of network units comprise a plurality of content based message directors, each to route or direct received messages to one of a plurality of application servers based upon the application data in the message. According to another embodiment, the plurality of network units comprise a plurality of validation accelerators, each validation accelerator to validate at least a portion of a message before outputting the message.

Abstract: A network apparatus is provided that may include one or more security accelerators. The network apparatus also includes a plurality of network units cascaded together. According to one embodiment, the plurality of network units comprise a plurality of content based message directors, each to route or direct received messages to one of a plurality of application servers based upon the application data in the message. According to another embodiment, the plurality of network units comprise a plurality of validation accelerators, each validation accelerator to validate at least a portion of a message before outputting the message.

Abstract: A network apparatus is provided that may include one or more security accelerators. The network apparatus also includes a plurality of network units cascaded together. According to one embodiment, the plurality of network units comprise a plurality of content based message directors, each to route or direct received messages to one of a plurality of application servers based upon the application data in the message. According to another embodiment, the plurality of network units comprise a plurality of validation accelerators, each validation accelerator to validate at least a portion of a message before outputting the message.

Abstract: In a circuit breaker, a current transformer for fault powering trip unit electronics and sensing low currents and high currents includes a core with solid laminations and gapped laminations to sense a wide range of currents from locked-rotor currents to high, instantaneous short-circuit currents in a single current transformer. The current transformer can also fault power trip unit electronics without requiring an additional current transformer. The operating range of the circuit breaker is significantly enhanced compared to existing breakers that can sense only a limited range of current levels.

Abstract: A time-synchronized trip implementation for a motor circuit protector (MCP) having a reconfigurable microcontroller. The microcontroller causes a power supply to, be charged for an initial time period during a charging mode. An onboard comparator is configured for a predetermined self-protection level of the MCP, and fault currents that exceed the comparator's threshold will directly drive a solenoid to trip the MCP. The microcontroller reconfigures the comparator's threshold to both measure and charge the power supply toward a stored energy trip voltage, which will charge quickly when high fault currents are present. As a result, self-protection is not compromised. After the trip voltage is reached, the microcontroller reconfigures the onboard comparator's threshold for self-protection trip levels. When a trip event occurs in this mode, stored energy trip activation occurs.

Abstract: An automatic temperature compensation method that automatically adjusts trip point thresholds of a motor circuit protector in response to changes in temperature. The relationship between two curves is exploited to match temperature sensor readings from a temperature sensor circuit with burden resistor percentage values derived from a burden resistor circuit. A temperature inflection point is determined from the intersection of (1) the temperature sensor curve plotting the voltage output of the temperature sensor versus temperature and (2) the burden resistance curve plotting burden resistance versus temperature. A temperature value along the temperature sensor curve is transformed into the corresponding burden resistance on the burden resistance curve. The burden resistance is expressed as a percentage variance from a burden resistance at an ambient temperature.

Abstract: A redundant trip activation scheme whereby at least one pre-trip condition must be satisfied before a trip signal is sent to a trip solenoid of a motor circuit protector. To provide a layer of protection against spurious or nuisance tripping caused by software errors or external events such as EMF effects, a trip module sets a trip variable upon detection of a trip signal. Instead of tripping the MCP, the trip module requires at least an additional trip signal to be detected. The next time a trip signal is detected, the trip module checks whether the trip variable has been set, and, if so, sends a trip signal to a trip circuit, causing the solenoid to be activated. To ensure that a trip actually occurs, the solenoid can be tripped from the microcontroller via the trip circuit or from an over-voltage protection circuit in the event of a system failure, which operates independently of the trip circuit.

Abstract: A method and system to calibrate a motor circuit protection device is disclosed. An example method calibrates a signal chain of a circuit breaker. The signal chain includes a current transformer, a burden resistor, a stored energy circuit and a controller. The circuit breaker includes a memory coupled to the controller. A calibration instruction routine is written in a first location of the memory. A test current is injected in the circuit breaker signal chain. The test current peak of the test current in the circuit breaker signal chain is measured. Data indicative of the test current peak is stored in a second location of the memory. The test current peak data is read from the second location of the memory. The test current peak data is compared with nominal current data related to the signal chain remotely from the circuit breaker. A calibration factor is determined based on the comparison.