This paper discusses a procedure to measure the radar cross section (RCS) of small boats at 94GHz... more This paper discusses a procedure to measure the radar cross section (RCS) of small boats at 94GHz. 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 41ft 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
This paper investigates the feasibility of real-aperture imaging a small boat by exploiting the g... more 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.
2003 Proceedings of the International Conference on Radar (IEEE Cat. No.03EX695), 2003
This paper starts by defining the issues that are required for the development of a successful un... more 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.
7th International Conference on Control, Automation, Robotics and Vision, 2002. ICARCV 2002., 2002
This paper presents an overview of the work being conducted by the Australian Centre for Field Ro... more 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.
ABSTRACT Over the last three decades, mining operations have undergone massive transformation to ... more ABSTRACT 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.
2006 9th International Conference on Control, Automation, Robotics and Vision, 2006
This paper presents the application of a millimetre wave radar technology to environment mapping ... more 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
2010 IEEE International Conference on Robotics and Automation, 2010
Trajectory generation and control of large equipment in open field environments involves systemat... more 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.
The use of large rope shovels in open-pit mining and quarrying is ubiquitous across Australia. Th... more The use of large rope shovels in open-pit mining and quarrying is ubiquitous across Australia. Their efficient operation is profoundly influenced by their interaction with the surrounding environment and infrastructure. For instance, to maintain an efficient transfer of material from the face to the bucket, an optimum distance from the shovel to the face should be sustained. This is difficult to judge and requires a well trained operator due to poor visibility and lack of perspective clues. Similar problems of alignment exist during dump component of the cycles whereas misjudgements are more critical and may result in damaged infrastructure and even injury to the truck operator, if appropriate precautions are not taken.
This paper examines the background and application of millimetre wave radar technology to control... more 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
... axes. The bucket-fill radar required a high speed mirror scanner to produce 2D scans across t... more ... axes. The bucket-fill radar required a high speed mirror scanner to produce 2D scans across the bucket surface as illustrated in Fig. 1d. It was implemented using a standard swash-plate design shown in Fig. 2b. With careful ...
... Graham Brooker, Craig Lobsey, Ross Hennessy ... Analysis of the measured data for all of the ... more ... Graham Brooker, Craig Lobsey, Ross Hennessy ... 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 ...
This paper examines the use of millimeter-wave radar systems for visualization and navigation in ... more This paper examines the use of millimeter-wave radar systems for visualization and navigation in unstructured outdoor environments. Three types of radar systems are described. The first is a long range, 94 GHz, frequency modulated interrupted continuous wave radar which is capable of producing two-dimensional ͑2D͒ reflectivity images to a range of more than 3 km. This is intended for use in long-range path planning. The second is a class of medium range 77 GHz frequency modulated continuous wave ͑FMCW͒ radar with two axis mirror scanners which is capable of producing high resolution threedimensional ͑3D͒ imagery out to 500 m at a reasonably slow frame rate. The final class also operates using the FMCW principle, but at 94 GHz, to produce high resolution 2D and 3D images out to about 50 m at a much higher update rate. These shorter range sensors may be used to determine the traversability of the local terrain. The outputs produced by the different classes of radar are examined and the paper considers their advantages when compared to other sensors such as vision and scanning laser. Using radar images, the final section compiles rules for interpreting radar reflectivity images from a path-planning perspective.
This paper defines the issues required for the development of successful visualization sensors fo... more This paper defines the issues required for the development of successful visualization sensors for use in open cut and underground mines. It examines the mine environment and considers both the reflectivity of the rock and attenuation effects of dust and water droplets. Millimeter wave technology, as an alternative to the more commonly used laser and sonar implementations, is selected due to its superior penetration through adverse atmospheric conditions. Of the available radar techniques, frequency modulated continuous wave ͑FMCW͒ is selected as being the most robust. The theoretical performance of a number of 77 and 94 GHz FMCW millimeter wave radar systems is determined and these confirm the capability of these sensors in the mining environment. Implementations of FMCW radar sensors for simple ranging and three-dimensional surface profiling are discussed before data obtained during field trials in mines is presented to justify the selection of this technology.
Page 1. 1270 IEEE SENSORS JOURNAL, VOL. 5, NO. 6, DECEMBER 2005 Development and Application of Mi... more Page 1. 1270 IEEE SENSORS JOURNAL, VOL. 5, NO. 6, DECEMBER 2005 Development and Application of Millimeter Wave Radar Sensors for Underground Mining Graham M. Brooker, Member, IEEE, Steven Scheding, Member ...
This paper presents an overview of the work being conducted by the Australian Centre for Field Ro... more 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.
This paper presents a data-fusion and interpretation system for operation of an Autonomous Ground... more This paper presents a data-fusion and interpretation system for operation of an Autonomous Ground Vehicle (AGV) in outdoor environments. It is a practical implementation of a new model for machine perception and reasoning, which has its true utility in its applicability to increasingly unstructured environments. This model provides a cohesive, sensor-centric and probabilistic summary of the available sensory data and
This paper defines the issues required for the development of successful visualisation sensors fo... more This paper defines the issues required for the development of successful visualisation sensors for use in open cut and underground mines. It examines the mine environment and considers both the reflectivity of the rock and attenuation effects of dust and water droplets. Millimetre wave technology, as an alternative to the more commonly used laser and sonar implementations, is selected due to its superior penetration through adverse atmospheric conditions. Of the available radar techniques, frequency modulated continuous wave (FMCW) is selected as being the most robust. The theoretical performance of a number of 94GHz FMCW millimetre wave radar systems is determined and these confirm the capability of these sensors in the mining environment. The paper describes implementations of FMCW radar sensors for simple ranging, two dimensional line scanning and three dimensional imaging that are based on a common ranging module and in the case of the 2D and 3D applications, a common swash-plat...
This paper discusses a procedure to measure the radar cross section (RCS) of small boats at 94GHz... more This paper discusses a procedure to measure the radar cross section (RCS) of small boats at 94GHz. 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 41ft 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
This paper investigates the feasibility of real-aperture imaging a small boat by exploiting the g... more 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.
2003 Proceedings of the International Conference on Radar (IEEE Cat. No.03EX695), 2003
This paper starts by defining the issues that are required for the development of a successful un... more 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.
7th International Conference on Control, Automation, Robotics and Vision, 2002. ICARCV 2002., 2002
This paper presents an overview of the work being conducted by the Australian Centre for Field Ro... more 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.
ABSTRACT Over the last three decades, mining operations have undergone massive transformation to ... more ABSTRACT 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.
2006 9th International Conference on Control, Automation, Robotics and Vision, 2006
This paper presents the application of a millimetre wave radar technology to environment mapping ... more 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
2010 IEEE International Conference on Robotics and Automation, 2010
Trajectory generation and control of large equipment in open field environments involves systemat... more 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.
The use of large rope shovels in open-pit mining and quarrying is ubiquitous across Australia. Th... more The use of large rope shovels in open-pit mining and quarrying is ubiquitous across Australia. Their efficient operation is profoundly influenced by their interaction with the surrounding environment and infrastructure. For instance, to maintain an efficient transfer of material from the face to the bucket, an optimum distance from the shovel to the face should be sustained. This is difficult to judge and requires a well trained operator due to poor visibility and lack of perspective clues. Similar problems of alignment exist during dump component of the cycles whereas misjudgements are more critical and may result in damaged infrastructure and even injury to the truck operator, if appropriate precautions are not taken.
This paper examines the background and application of millimetre wave radar technology to control... more 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
... axes. The bucket-fill radar required a high speed mirror scanner to produce 2D scans across t... more ... axes. The bucket-fill radar required a high speed mirror scanner to produce 2D scans across the bucket surface as illustrated in Fig. 1d. It was implemented using a standard swash-plate design shown in Fig. 2b. With careful ...
... Graham Brooker, Craig Lobsey, Ross Hennessy ... Analysis of the measured data for all of the ... more ... Graham Brooker, Craig Lobsey, Ross Hennessy ... 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 ...
This paper examines the use of millimeter-wave radar systems for visualization and navigation in ... more This paper examines the use of millimeter-wave radar systems for visualization and navigation in unstructured outdoor environments. Three types of radar systems are described. The first is a long range, 94 GHz, frequency modulated interrupted continuous wave radar which is capable of producing two-dimensional ͑2D͒ reflectivity images to a range of more than 3 km. This is intended for use in long-range path planning. The second is a class of medium range 77 GHz frequency modulated continuous wave ͑FMCW͒ radar with two axis mirror scanners which is capable of producing high resolution threedimensional ͑3D͒ imagery out to 500 m at a reasonably slow frame rate. The final class also operates using the FMCW principle, but at 94 GHz, to produce high resolution 2D and 3D images out to about 50 m at a much higher update rate. These shorter range sensors may be used to determine the traversability of the local terrain. The outputs produced by the different classes of radar are examined and the paper considers their advantages when compared to other sensors such as vision and scanning laser. Using radar images, the final section compiles rules for interpreting radar reflectivity images from a path-planning perspective.
This paper defines the issues required for the development of successful visualization sensors fo... more This paper defines the issues required for the development of successful visualization sensors for use in open cut and underground mines. It examines the mine environment and considers both the reflectivity of the rock and attenuation effects of dust and water droplets. Millimeter wave technology, as an alternative to the more commonly used laser and sonar implementations, is selected due to its superior penetration through adverse atmospheric conditions. Of the available radar techniques, frequency modulated continuous wave ͑FMCW͒ is selected as being the most robust. The theoretical performance of a number of 77 and 94 GHz FMCW millimeter wave radar systems is determined and these confirm the capability of these sensors in the mining environment. Implementations of FMCW radar sensors for simple ranging and three-dimensional surface profiling are discussed before data obtained during field trials in mines is presented to justify the selection of this technology.
Page 1. 1270 IEEE SENSORS JOURNAL, VOL. 5, NO. 6, DECEMBER 2005 Development and Application of Mi... more Page 1. 1270 IEEE SENSORS JOURNAL, VOL. 5, NO. 6, DECEMBER 2005 Development and Application of Millimeter Wave Radar Sensors for Underground Mining Graham M. Brooker, Member, IEEE, Steven Scheding, Member ...
This paper presents an overview of the work being conducted by the Australian Centre for Field Ro... more 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.
This paper presents a data-fusion and interpretation system for operation of an Autonomous Ground... more This paper presents a data-fusion and interpretation system for operation of an Autonomous Ground Vehicle (AGV) in outdoor environments. It is a practical implementation of a new model for machine perception and reasoning, which has its true utility in its applicability to increasingly unstructured environments. This model provides a cohesive, sensor-centric and probabilistic summary of the available sensory data and
This paper defines the issues required for the development of successful visualisation sensors fo... more This paper defines the issues required for the development of successful visualisation sensors for use in open cut and underground mines. It examines the mine environment and considers both the reflectivity of the rock and attenuation effects of dust and water droplets. Millimetre wave technology, as an alternative to the more commonly used laser and sonar implementations, is selected due to its superior penetration through adverse atmospheric conditions. Of the available radar techniques, frequency modulated continuous wave (FMCW) is selected as being the most robust. The theoretical performance of a number of 94GHz FMCW millimetre wave radar systems is determined and these confirm the capability of these sensors in the mining environment. The paper describes implementations of FMCW radar sensors for simple ranging, two dimensional line scanning and three dimensional imaging that are based on a common ranging module and in the case of the 2D and 3D applications, a common swash-plat...
Uploads
Papers by Ross Hennessy