Unmanned Systems Technology 003 | UAV Solutions Talon 120 | Cable harnesses | Austro Engine AE50R and AE300 | Autonomous mining | AUVSI 2015 show report | Transponders | Space systems

to work alongside the on-site bulldozers, loaders and shovels. The GPS system locates the exact positions of the trucks and controls them along predetermined courses. The technology also extends the operating time by eliminating the human driver, and contributes to efficiency by ensuring a stable speed, which reduces equipment wear and fuel consumption. The wireless network uses the 5.8 GHz frequency band with a mesh network, and the trucks communicate with each other to feed data back to the operations centre. This connection is called root access point-to-mesh access point (RAP-MAP), and gives high bandwidth comms throughout the mine, which is particularly useful for video links. The mesh is self-configuring and self- healing, automatically reconfiguring itself to prevent interruptions during changes to the mine layout such as opening new pits and faces. Komatsu has also patented a technique that uses six cameras and eight radar systems around the vehicle to detect obstacles so that the AHS can steer around them, or stop if the obstacle is too large. It is now taking this technology underground through a technology joint venture with General Electric (GE) in the US. The venture, called GE Mining Systems, combines the Komatsu control technology with GE’s battery and electric drive systems. The other approach to implementation has been for third-party companies to adapt existing equipment, making use of the CAN bus to control the vehicle. For example, Utah-based Autonomous Solutions Inc (ASI) has developed a range of components to convert existing trucks to tele-operated and autonomous operation. ASI is working with Rio Tinto and fellow mining giant Anglo American to add an autonomous capability to mining equipment, and it is a key partner in Anglo American’s FutureSmart automated equipment programme, which Anglo says is necessary to deliver 20 years of innovation over the next five years. These OEM-independent deals allow mining companies to buy equipment from different suppliers and still have consistent hardware and software for autonomous operation. Converted equipment is already being tested at ASI’s proving ground in Utah, using additional components such as steering wheel actuators, which allow the existing steering to be controlled electronically. At the heart of this conversion is an onboard computer called Cortex, which manages vehicle functions and communicates real-time data on the vehicle’s status and health to the remote operator. It uses the i.MX6 microprocessor from Freescale Semiconductor, which is in the process of merging with another chip supplier, NXP. The i.MX6 has four high-performance Cortex-A9 processor cores designed by UK chip designer ARM. The cores run at speeds of up to 1.2 GHz and take the data from the two CAN bus interfaces that link to the rest of the system. It also includes hardware to decode video streams, making it suitable for both autonomous and teleop applications. Cortex can also connect to other imaging and radar subsystems via a gigabit Ethernet link through five ports. This brings in all the sensor data from the sensor subsystem, called Vantage, initiating see-and-stop or see-and- avoid behaviour when they encounter obstacles. At its most basic level, ASI uses the i.MX6 quad-core processor with two CAN bus interfaces for its Cortex autonomous truck controller (Courtesy of ASI) Autonomy allows trucks to operate safely through a complex load, haul and dump cycle, and work alongside on- site bulldozers, loaders and so on 57 Unmanned Systems Technology | Summer 2015