Abstract: The present invention provides a system for coordinating multiple vehicles in a passageway environment (e.g., in underground mines). The system includes methods and apparatus for determining the global position and orientation of a vehicle in said passageway environment, and methods for planning routes and monitoring the travels of multiple vehicles in said passageway environment. A global position and orientation estimation system employs one or more odometric sensors and one or more range sensing devices. It works in three basic steps. In the first step, it records and processes sensor data that is descriptive of the passageway environment by moving the system through said passageway environment. In the second step, it generates a globally consistent map of said passageway environment.

Abstract: Provided are a method, system, and article of manufacture for determining whether data written to source storage locations according to a write order is copied to corresponding target storage locations in the write order. Values are written to indicated source storage locations in a write order. The values written to the source storage locations are copied to corresponding target storage locations. The values at the target storage locations are read and a determination is made from the read values whether the values were written to the target storage locations in the write order.

Abstract: In a shell utility computer program code configured to cause at least one computer processor comprising one host computer system to connect to a second host computer system, and to cause the second host computer system to execute at least one command provided to one host computer system, the computer program code is configured to cause the one host computer system to selectively alter a pre-existing return code for use on shell utility error; and to cause the one host computer system to, in the absence of an alteration to the pre-existing return code, select a pre-existing return code of the shell utility as a default.

Abstract: The present invention provides a guidance, navigation, and control method and system for an underground mining vehicle that allow said vehicle to be taught a route by a human operator and then have it automatically drive the route with no human intervention. The method works in three steps: teaching, route profiling, and playback. In the teaching step the vehicle is manually driven by a operator (or using tele-operation whereby the operator views a screen displaying live views from vehicle-mounted cameras and using remote controls) along a route which can consist of an arbitrary sequence of maneuvers including tramming forwards, switching directions, tramming backwards, turning, or pausing movement. During this phase raw data from vehicle-mounted sensors including odometric sensors and rangefinders are logged to a file throughout teaching for later processing.

Abstract: Provided are a method, system, and article of manufacture for determining whether data written to source storage locations according to a write order is copied to corresponding target storage locations in the write order. Values are written to indicated source storage locations in a write order. The values written to the source storage locations are copied to corresponding target storage locations. The values at the target storage locations are read and a determination is made from the read values whether the values were written to the target storage locations in the write order.

Abstract: The present invention provides a system for coordinating multiple vehicles in a passageway environment (e.g., in underground mines). The system includes methods and apparatus for determining the global position and orientation of a vehicle in said passageway environment, and methods for planning routes and monitoring the travels of multiple vehicles in said passageway environment. A global position and orientation estimation system employs one or more odometric sensors and one or more range sensing devices. It works in three basic steps. In the first step, it records and processes sensor data that is descriptive of the passageway environment by moving the system through said passageway environment. In the second step, it generates a globally consistent map of said passageway environment.