Automated longwall guidance and control vertical control subsystem, volume 1

A design, fabrication, and implementation of a horizon control of a longwall shearer was performed. This equipment was tested and demonstrated aboveground. This hardware was also installed on a longwall face. The feasibility of providing horizon control for a shearer was demonstrated aboveground. The feasibility of retrofitting the necessary sensors in a survivable manner was demonstrated underground. Subsequent field tests of a specific component, the natural background sensor, at a western location demonstrated the particular usefulness of this device on a wider application basis.