Abstract: A drilling machine, including a drill and a boom, are used for drilling boreholes in the face of a mine. A sensor may scan the mine and create a virtual environment representing the mine based on that scan. The drilling machine may include a computer for moving the drill and the boom from a first position to a second position based at least partially on evaluation of the kinematic redundancy of the drill and boom. This may be used to avoid a collision in moving the drill and boom from the first position to the second position.

Abstract: A drilling machine, including a drill and a boom, are used for drilling boreholes in the face of a mine. A sensor may scan the mine and create a virtual environment representing the mine based on that scan. The drilling machine may include a computer for moving the drill and the boom from a first position to a second position based at least partially on evaluation of the kinematic redundancy of the drill and boom. This may be used to avoid a collision in moving the drill and boom from the first position to the second position.

Abstract: Voltage controlled oscillator (“VCO”) circuitry includes LC tank or ring VCO circuitry and frequency divider circuitry that divides the frequency output by the oscillator circuitry by a selectable integer factor that is at least 2 in the case of a ring oscillator or at least 4 in the case of an LC tank oscillator. This arrangement allows the oscillator circuitry to operate at frequencies that are higher than the desired final output frequencies, which has such advantages as reducing the size and power consumption of the oscillator circuitry, and allowing the circuitry as a whole to have a wide range of operating frequencies while reducing the frequency range over which the oscillator circuitry may be required to operate.

Abstract: Voltage controlled oscillator (“VCO”) circuitry includes LC tank or ring VCO circuitry and frequency divider circuitry that divides the frequency output by the oscillator circuitry by a selectable integer factor that is at least 2 in the case of a ring oscillator or at least 4 in the case of an LC tank oscillator. This arrangement allows the oscillator circuitry to operate at frequencies that are higher than the desired final output frequencies, which has such advantages as reducing the size and power consumption of the oscillator circuitry, and allowing the circuitry as a whole to have a wide range of operating frequencies while reducing the frequency range over which the oscillator circuitry may be required to operate.