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.
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
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 ...
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 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 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.
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
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 ...
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 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