Transformation of mechanized locomotives into semi-autonomous machines

Computerized communications (radio) command, control, and monitoring (C/sup 4/M) technology has been developed to replace mechanical controllers on 35 ton locomotives (loci). The C/sup 4/M technology uses medium frequency (MF) underground radio technology developed in prior US Bureau of Mines research to achieve high-quality voice and data transmission in the mining complex. Robust electrical conductors such as rail, air/hydro pipe, and cable provide a signal transmission medium with an attenuation rate of 4 dB/304 m (1000 ft). The signal-to-noise ratio (SNR) exceeds 30 dB in the transmission system. A surface supervisory computer communicates with the C/sup 4/M controller via MF radio to create a semiautonomous locomotive. Diagnostic algorithms monitor locomotive sensors and locate failures in the propulsion system. The C/sup 4/M controller has reduced propulsion system diagnostic time from an average of 40 to less than 10 min. The increased machine availability time contributes 17000 tons of additional ore to the trains' haul age potential each year. >