3D Real-Time Stockpile Mapping and Modelling with Accurate Quality Calculation using Voxels

175 Pages·2016·4.7 MB·English

by  Shi Zhao

3D Real-Time Stockpile Mapping and
Modelling with Accurate Quality
Calculation using Voxels
Shi Zhao
School of Mechanical Engineering
University of Adelaide
This dissertation is submitted for the degree of
Doctor of Philosophy
Robotics Research Group February 2016

Inlovingmemoryofmygrandparents...

Declaration
Originality
I certify that this work contains no material which has been accepted for the award of any
otherdegreeordiplomainmynameinanyuniversityorothertertiaryinstitutionand,tothe
best of my knowledge and belief, contains no material previously published or written by
anotherperson, exceptwhere duereference hasbeen madein thetext. In addition,I certify
thatnopartofthisworkwill,inthefuture,beusedinasubmissioninmynameforanyother
degreeor diplomain anyuniversityor other tertiary institution without the priorapprovalof
theUniversityofAdelaideandwhereapplicable,anypartnerinstitutionresponsibleforthe
jointawardofthisdegree.
Permissions
IgiveconsenttothiscopyofmythesiswhendepositedintheUniversityLibrary,beingmade
available for loan and photocopying, subject to the provisions of the Copyright Act 1968.
The author acknowledges that copyright of published works contained within this thesis
resideswiththecopyrightholder(s)ofthoseworks.
Ialsogivepermissionforthedigitalversionofmythesistobemadeavailableontheweb,
via the University’s digital research repository, the Library Search and also through web
searchengines,unlesspermissionhasbeengrantedbytheUniversitytorestrictaccessfora
periodoftime.
ShiZhao
February2016

Acknowledgements
I would like to take this opportunity to express my deepest and most sincere thanks and
expressions of gratitude to my principal supervisor, Tien-Fu, Lu. Your broad knowledge and
logicalpatternofthought,combinedwithagenerousandfriendlymanner,havealwayshelped
me improving. Your encouraging guidance and mentorship have motivated me throughout
mycandidature.
Iwouldnothavebeenabletocontinuewithoutthefinancialandpracticalassistanceoffered
bymy supervisorBenKochofMatrixGroup throughtheARC LinkageLP0989780Grant.
Thankyouforprovidingmewiththeopportunitytodothisuniqueresearchinanexciting
field. YourinsightfuldiscussionsandindustryexperiencemakemyPh.D.experiencemore
productiveandstimulating.
Inthecourseofmyresearch,IhavebeenworkedwithmanyothersintheRoboticsGroupat
theSchoolofMechanical Engineering, UniversityofAdelaide. Theirsupports andadvices
wereinvaluable. Ithankallthecurrentmembersoftheteam: KuanTan,MohamedAwadalla,
MaungMyo,DaSunandDiGao.
Lastly,Iowe mygreatestthankstomyfamily. Theydeservespecialgratitudeforthesupport
andunderstandingofmyresearchcareer. WithoutthemIwouldnothavebeenabletotravel
and study in Australia. To my wife, Soyeon Oh, thank you for your abundant love and
supportthroughouttheyears.

Publications
Journal
1. ShiZhao,Tien-FuLu,BenKoch,AlanHurdsman,"Automaticqualityestimationin
blendingusinga3Dstockpilemanagementmodel,"AdvancedEngineeringInformatics,
Volume29,Issue3,August2015,Pages680-695,ISSN1474-0346,http://dx.doi.org/
10.1016/j.aei.2015.07.002.
2. Shi Zhao,Tien-FuLu, Ben Koch, AlanHurdsman, "Stockpilemodelling andquality
calculationforcontinuousstockpilemanagement,"InternationalJournalofMineral
Processing,Volume140,10July2015,Pages32-42,ISSN0301-7516,http://dx.doi.
org/10.1016/j.minpro.2015.04.012.
3. ShiZhao,Tien-Fu Lu,Ben Koch,Alan Hurdsman,"Dynamic modelling of3D stock-
pileforlife-cyclemanagementthroughsparserangepointclouds,"InternationalJournal
ofMineralProcessing,Volume125,10December2013,Pages61-77,ISSN0301-7516,
http://dx.doi.org/10.1016/j.minpro.2013.09.009.
Conference
1. ShiZhao,Tien-FuLu,BenKoch,AlanHurdsman,"3Dstockpilemodellingtoimprove
thequalitycontrolinironorehandling,"ProceedingsoftheInternationalConference
onMining,MaterialandMetallurgicalEngineering,Prague,CzechRepublic,11-12,
Aug.,2014.
2. ShiZhao, Tien-FuLu, BenKoch,Alan Hurdsman, "Stockpilemodelling using mobile
laserscannerforqualitygradecontrolinstockpilemanagement,"12thInternational
x
ConferenceonControlAutomationRobotics&Vision(ICARCV),Guangzhou,China,
5-7Dec.,2012.
3. ShiZhao,Tien-FuLu,BenKoch,AlanHurdsman,"Asimulationstudyofsensordata
fusionusingUKFforbucketwheelreclaimerlocalization,"2012IEEEInternational
Conference on Automation Science and Engineering (CASE 2012), Seoul, Korea
(South),20-24Aug.,2012.
4. Tien-Fu Lu, Shi Zhao, Shihong Xu, Ben Koch, Alan Hurdsman, "A 3DOF system
for 3 dimensional stockpile surface scanning using laser," 6th IEEE Conference on
IndustrialElectronicsandApplications(ICIEA),Beijing,China,21-23June,2011.
Poster
1. ShiZhao,Tien-FuLu,BenKoch,AlanHurdsman,"3Dreal-timestockpilemodelling
andvoxelizationtoestimatequalityduringblendingoperation,"11thSouthAustralian
ExplorationandMiningConference(SAEMC),Adelaide,Australia,5Dec.,2014.