About Dr. Marshall Dr. Joshua Marshall has an interdisciplinary background, not only in mining, but also in both electrical and computing engineering (ECE) and mechanical engineering. He is involved in the ECE, MME, and Mining Engineering Departments here at Queen’s University, as well as at Carleton University in the Department of Mechanical and Aerospace Engineering. Dr. Marshall founded the Mining Systems Laboratory (MSL) in 2010, which is a multidisciplinary research group at Queen’s University for students pursuing a Masters or PhD degree in mining, mechanical, or electrical and computer engineering, with specific interests in the field of robotics and systems engineering. Dr. Marshall runs MSL with Dr. Brian Lynch and Mr. Oscar Rielo. Currently there are 9 Queen’s students working for Dr. Marshall at MSL, four mining engineering students, four electrical and computer engineering students, and one mechanical and materials engineering student. The MSL research focusses primarily on the study and advancement of modern mining equipment, specifically improving the methods for perception, modelling, and control of current equipment. Current Projects Currently, MSL activities include the uGPS Project with Barrick and Peck Tech, CFI project Cooperative Mining Machines, participation in the NSERC Canadian Field Robotics Network (NCFRN) and robotic exploration and geotechnical work under NSERC CREATE project Technologies and Techniques for Earth and Space Exploration. Recently completed projects include Remote Cavity Surveying at Cameco Cigar Lake. uGPS with Barrick and Peck Tech The uGPS with Barrick and Peck Tech project is a project developed with MSL partners, Barrick Gold and Peck Tech consulting, and in collaboration with Dr. Michael Greenspan and the Robotics and Computer Vision Lab (RCVL) at Queen’s. The objective of the project is to improve
2D and 3D map-based positioning techniques, and technologies associated with mapping and localization for underground mines where GNSS is not available. Subtopics that student research projects are based on include 3D mapping for underground mines, real-time vehicle localization, automated map annotation, change detection applications, and multi-vehicle routing and ramp management. NSERC Canadian Field Robotics Network (NCFRN)
Figure 1: UGPS Testing with Peck Tech at CANMET in Val d'Or (Photo courtesy of Unal Artan)
The NSERC Canadian Field Robotics Network is an organization which brings together academic, government, and industrial researchers in the area of field robotics. NSERC NCFRN’s main objective is to allow for the development of heterogeneous robots that communicate, relay, and implement critical information. The hope is that this goal will be achieved by researching and developing new science and technologies so that these technologies can be implemented in outdoor environments, for example: on land, in air, under or on the surface of water. Remote Cavity Surveying at Cigar Lake The Cameco Corporation is using a unique jet boring system to mine uranium in their Cigar Lake Operation in Saskatchewan. Carolyn Ingram, recent MSL graduate, had an NSERC IPS to work on a new remote cavity surveying system for Cameco Corporation’s Cigar Lake Operation. Cooperative Mining Machines Queen’s Innovation Park is a collaboration of academics, industries, governments, and non-profit organizations. This community comes together in an attempt to identify and develop technological discoveries.
Figure 2: Dr. Marshall rides on autonomous RTV 900W (photo courtesy of Brett Owens)
The MSL is currently collaborating with Innovation Park and the use of new robotic mining-scale equipment. There are two new diesel- hydraulic machines: a robotic Kubota R520s wheel loader and an autonomous Kubota RTV-W utility truck.
Together with partner Clearpath Robotics, the MSL team has converted these trucks to be ‘automation ready’. They have been used for autonomous loading experiments in order to improve efficiency and safety of both surface and underground loading operations, and for robotic navigation in areas where GPS cannot be used. Technologies and Techniques for Earth and Space Exploration This program is funded by NSERC CREATE, and is a six year training program together with the Centre for Planetary Science and Exploration (CPSX) at the University of Western Ontario, and other universities. The program is multi-disciplinary, comprising over 50 faculties from 11 departments: biology chemistry, Earth sciences, electrical and computing engineering, geography, history, kinesiology, mechanical and materials engineering, philosophy, physics and astronomy, and surgery. The program currently involves six university participants. CPSX offers twelve research themes: astrobiology, cosmochemistry, planetary atmospheres, planetary dynamics, planetary interiors, planetary surfaces, space systems, space robotics, telerobotics, space history, exoplanets, and monitoring earth-space. Mine Traffic Optimization (MTO) Barrick Gold Corporation recently funded the MTO project, which studied the potential for haul truck coordination in open pit mining in an attempt to increase productivity and decrease operating costs. Research and Employment Opportunities The MSL is always looking for applications from candidates wishing to pursue graduate studies in mining, mechanical, or electrical and computer engineering at Queen’s University. Undergraduates from any engineering discipline are welcome to apply. There are current job and degree opportunities in the technologies and techniques for earth and space exploration for undergraduate, Master’s, PhD, and postdoctoral researchers. Contact Dr. Marshall for more information on these opportunities or visit https://msl.engineering.queensu.ca. Dr. Marshall is offering his graduate course, MINE 853 Mining Robotics, which is available via online learning. Contact the Queen’s graduate studies office or Dr. Marshall for more details about the course and how to register.