Ross Hennessy

Development and application of millimeter wave radar sensors for underground mining

This paper defines the issues that are required for the development of a successful underground range measurement sensor. It considers various options, including laser and sonar implementations, before focusing on a millimeter-wave frequency modulated continuous wave radar. The implementations of radar sensors for simple ranging and three-dimensional cavity profiling are then discussed before some data obtained in underground mines is presented to verify the radar performance through thick dust and vapor.

Application of Millimetre Wave Radar Sensor to Environment Mapping in Surface Mining

This paper presents the application of a millimetre wave radar technology to environment mapping in surface mining. Sensor requirements for ranging and surface profiling in shovel and dragline operations were determined based on machines performance requirements. Frequency modulated continuous wave (FMCW) technique was selected to achieve the correct range resolution while fast Fourier techniques (FFT) was used to extract the range data from the radar output. Radar data processing was undertaken using stochastic environment representation technique in real-time. The results of field trials show successful radar performance in terms of the systems accurate measurement of excavation terrain, real-time imaging, robustness, reliability and penetration through dust and water

Terrain imaging millimetre wave radar

This paper presents an overview of the work being conducted by the Australian Centre for Field Robotics (ACFR) and the CRC for mining technology and equipment (CMTE) into sensors and systems for real-time environment imaging. Radar is perhaps the only sensor capable of performing imaging tasks in environment where high levels of dust, water vapour, and rain must be contended with. Methods of visualizing the radar data for various applications are presented.

Integrated planning and control of large tracked vehicles in open terrain

Trajectory generation and control of large equipment in open field environments involves systematically and robustly operating in uncertain and dynamic terrain. This paper presents an integrated motion planning and control system for tracked vehicles. Flexible path-end adjustments and adaptive look-ahead are introduced to a state lattice planning approach with waypoint control. For a given processing horizon, this increases search coverage and reduces planning error. This tramming approach has been successfully fielded on a 98-ton autonomous blast hole drill rig used in iron ore mining in Western Australia. The system has undergone extensive testing and is now integrated into a production environment. This work is a key element in a larger program aimed at developing a fully autonomous, remotely operated mine.

Millimetre wave radar sensors for mining applications

This paper starts by defining the issues that are required for the development of a successful underground sensor. It goes on to investigate the options before settling on millimetre wave FMCW radar. Implementation of two radar sensors for different underground applications is then discussed.

Radar cross sections of small boats at 94 GHz

This paper briefly discusses a procedure to measure the radar cross section (RCS) of small boats at 94 GHz. It describes an extremely simple and moderately low cost set of hardware that was used to perform these measurements. An analysis of the calibration method including measurements of reference corner reflector returns and those from the sea were made throughout the trials. Results include polar patterns made from the peak RCS at each angle. In the case of the largest boat, a 41 ft fly-bridge cruiser, it was possible to process the high resolution range profile data to identify the positions of the larger scatterers. Analysis of the measured data for all of the craft shows a linear relationship between the median RCS of the non-metallic boats and their physical cross-section when viewed side on.

Low Cost Measurement of Small Boat RCS at 94GHz

This paper discusses a procedure to measure the radar cross section (RCS) of small boats at 94 GHz. It describes a simple and moderately low cost set of hardware that was used to perform these measurements. Results include polar patterns made from the peak RCS at each angle and probability density functions to characterise the distribution of RCS. In the case of the largest boat, a 41 ft fly-bridge cruiser, it was possible to process the high resolution range profile data to identify the positions of the larger scatterers. Analysis of the measured data for all of the craft shows a linear relationship between the median RCS of the non-metallic boats and their physical cross-section when viewed side on

Real aperture imaging of a small boat at 94GHz

This paper investigates the feasibility of real-aperture imaging a small boat by exploiting the good range resolution of a millimetre wave radar, and the known trajectory of the target. Two different image types are generated, one that includes the uncertainty in the angle of arrival introduced by the antenna beamwidth and uses the largest return only, and the other which exploits the complete range-amplitude return to obtain more information about the size of each target and its position on the boat. This second method produces images which are easier to interpret and could possibly be used to identify a target.

Millimetre Wave Radar Visualisation System: Practical Approach to Transforming Mining Operations

Over the last three decades, mining operations have undergone massive transformation to mechanized, semi- and automated mining systems; manual labor has been gradually replaced by machine operations and processes have become more integrated. This change was possible due to technological advances in sensing techniques, improved excavation methods, bigger and more reliable mining machines and better understanding of geological conditions. Yet, with all the technological advances, majority of mining operations still rely on human “operator” to achieve production goal, whose performance, in turn, is influenced by the accuracy of information provided by various data gathering systems and by the variable, sometimes unmanageable or unpredictable environmental conditions. In order to achieve and maintained high level of performance of man-machine systems, the information acquired using various technologies must be accurate and must be provided in time for uninterrupted operation.

Millimetre Wave Radar Vision for the Mining Industry

This paper examines the background and application of millimetre wave radar technology to control and direct the material mix introduced to refill large underground voids. In addition it documents the use of radars for surface mine visualisation to produce images of the bucket fill on large rope shovels and on draglines to help reconcile dig volumes and to specify dig and fill surface profiles.