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dc.contributor.authorMitchell, Jordan
dc.contributor.authorMarshall, Joshua
dc.date.accessioned2020-04-22T19:56:48Z
dc.date.available2020-04-22T19:56:48Z
dc.date.issued2020-01-09
dc.identifier.citationJ. Mitchell and J. A. Marshall. Towards a novel auto-rotating UAV platform for cavity surveying. In Tunnelling and Underground Space Technology, vol. 97, March 2020.en
dc.identifier.issn0886-7798
dc.identifier.urihttp://hdl.handle.net/1974/27728
dc.description.abstractThis paper presents the conceptual design, construction, and preliminary testing of a novel auto-rotating platform for cavity surveying. Cavity surveying involves generating a 3D model of an opening from acquired point cloud data. 3D models are used for volume estimation, stope reconciliation, dilution control, convergence monitoring, and rock mass stability analysis. In contrast to conventional cavity monitoring systems (CMS), which employ a rotating light detection and ranging (LiDAR) sensor attached to a stationary boom, the presented novel platform consists of a single point LiDAR sensor attached to an auto-rotating body as a unique solution to the cavity surveying problem. A proof of concept device consisting of a four-blade rotor and a data acquisition system was constructed and dropped from a five-metre overhang. Although auto-rotation was not reached, the set of indoor drop tests provide preliminary results that illustrate the design concept and describes the impact of design parameters.en
dc.description.sponsorshipNSERC Canadian Field Robotics Network (NCFRN)en
dc.language.isoenen
dc.publisherElsevieren
dc.subjectAuto-rotation; Cavity surveying; Underground; LiDAR mappingen
dc.titleTowards a novel auto-rotating LiDAR platform for cavity surveyingen
dc.typejournal articleen
dc.identifier.doi10.1016/j.tust.2019.103260


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