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Utilizing mechanical linear transducers for the determination of a mining machine's position and heading
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    "Computer-aided control of a mining machine requires a guidance system to aid remote positioning of the machine by determining its position and heading. The mechanical position and heading system (mphs) developed by the U.S. Bureau of Mines provides such navigation information during face maneuvers. This report describes the required theory, which yielded a reliable algorithm for calculating machine position and heading, and implementation of this theory in hardware and software design, which made surface testing of the mphs possible. Analysis of the errors and test results showed that the mphs provides reliable results and can, therefore, provide useful guidance information for face navigation." - NIOSHTIC-2 NIOSHTIC no. 10009154
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