5840-sl-300f0 v03.00 hb rev1_full

Reutech Mining, a Division of Reutech Ltd.

OPERATOR MANUAL

MOVEMENT AND SURVEYING RADAR

Document number ........................... 5840-SL-3000 V03.00

Revision ............................................................................. 1

Classification .................................... Company Confidential

Author ............................................................ Project Team

Date ......................................................... 4 February, 2013

Reutech Mining, a Division of Reutech Ltd. The copyright of this document is the property of Reutech Mining, a Division of Reutech Ltd. The document is issued for the sole purpose for which it is supplied, on the express terms that it may not be copied

in whole or part, used by or disclosed to others except as authorised in writing by Reutech Mining, a Division of Reutech Ltd.

Error! Reference source not found.

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REVISION:1 COMPANY CONFIDENTIAL REUTECH MINING

Page ii of 223 © Reutech Mining, a Division of Reutech Ltd. and/or its suppliers

subject to the restrictive legend on the title page.

4 February, 2013

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REUTECH MINING COMPANY CONFIDENTIAL REVISION:1

4 February, 2013 © Reutech Mining, a Division of Reutech Ltd. and/or its suppliers


Page iii of 223

DOCUMENT APPROVAL

Name Designation Affiliation Date Signature

Submitted by N. Britz Support

Technician

RRS

Approved by L.Nel MSR System

Engineer

RRS

DOCUMENT HISTORY

Revision Date Of Issue ECP Number Comments

Revision 1

2013/02/04

N/A

MSR300 Manual

DOCUMENT SOFTWARE

Package Version Filename

Word processor MS Word Word 2010 R:\Maintenace Department\MSR\ReutechMiningTechician\C&T\MSR

Operators Manual\5840-SL-3000 V03.00 HB REV1\5840-SL-3000

V03.00 HB Rev1

COMPANY DETAILS

REUTECH MINING CALL CENTRE

Name REUTECH LTD.

Reg. No. 1963/005035/07

Physical Address 35, Electron Avenue, Technopark,

Stellenbosch, South Africa

Postal Address P.O. Box 686, Stellenbosch,

South Africa, 7600

Tel. +27 21 880 1150

Fax. +27 21 880 1153

E-mail [email protected]

Website www.reutechmining.com

Tel. +27 21 880 0307

E-mail [email protected]

mailto:[email protected]

http://www.reutechmining.com/

mailto:[email protected]


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MENDMENT RECORD SHEET

When an amendment to this Technical Manual is incorporated, the record below is to be completed and

initialled.

Amendment No. Authority (Letter Reference) Date of Insertion Initials





Page v of 223

PROMULGATION CERTIFICATE

1. This Operators Manual is hereby promulgated by Reutech Radar Systems (Pty) Ltd for use by personnel

who are concerned with the operation, maintenance, repair, storage and issue of the equipment and / or

system described in this manual.

2. No unauthorised copies of this Technical Manual may be made.

.................................................................................. .................................................................................. Signature Date


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This page is left open intentionally.





Page vii of 223

MOVEMENT AND SURVEYING RADAR

FRONTISPIECE


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SAFETY WARNING

In Case of an Electrical Shock, Please follow the mines specific emergency

regulations and procedures.





Page ix of 223

NOTE

NOTES PROVIDE THE OPERATOR OR MAINTAINER WITH INFORMATION

ADDITIONAL TO THAT CONTAINED IN THE TEXT.

CAUTIONS

CAUTIONS LITERALLY CAUTION THE OPERATOR OR MAINTAINER OF

THOSE PROCEDURES FOR WHICH NON-COMPLIANCE MAY LEAD TO

DAMAGE TO OR DEFECTS OF EQUIPMENT.

SAFETY WARNINGS

A WARNING LITERALLY WARNS THE OPERATOR OR MAINTAINER OF

THOSE PROCEDURES FOR WHICH NON-COMPLIANCE MAY LEAD TO

INJURY, LOSS OF LIFE, OR MAJOR DAMAGE TO EQUIPMENT.


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REGULATORY NOTICES

FCC STATEMENT

This device complies with Part 15 of the FCC Rules. Operation is subject to the following two conditions:

(1) this device may not cause harmful interference, and (2) this device must accept any interference

received, including interference thatmay cause undesired operation.

FRENCH VERSION:

Le présent appareil est conforme aux CNR d'Industrie Canada applicables aux appareils radio

exempts de licence. L'exploitation est autorisée aux deux conditions suivantes : (1) l'appareil ne doit

pas produire de brouillage, et (2) l'utilisateur de l'appareil doit accepter tout brouillage radioélectrique

subi, même si le brouillage est susceptible d'en compromettre le fonctionnement.

The users manual or instruction manual for an intentional or unintentional radiator shall caution the user

that changes or modifications not expressly approved by Reutech Mining for compliance could void the

user's authority to operate the equipment. In cases where the manual is provided only in a form other

than paper, such as on a computer disk or over the Internet, the information required by this section may

be included in the manual in that alternative form, provided the user can reasonably be expected to have

the capability to access information in that form.

NOTE: This equipment has been tested and found to comply with the limits for a Class A digital

device, pursuant to Part 15 of the FCC Rules. These limits are designed to provide reasonable

protection against harmful interference when the equipment is operated in a commercial

environment. This equipment generates, uses, and can radiate radio frequency energy and, if not

installed and used in accordance with the instruction manual, may cause harmful interference to

radio communications. Operation of this equipment in a residential area is likely to cause harmful

interference in which case the user will be required to correct the interference at his own expense.





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SYMBOLS, ABBREVIATIONS AND ACRONYMS

The following are a list of symbols, abbreviations and acronyms which are used in this technical manual.

Abbreviation Description

3D 3-Dimensional

AC Alternating Current

Ah Ampere hours

APU Antenna Pointing Unit

AR Analogue Range

BIT Built In Test

dB Decibel

DC Direct Current

DDS Direct Digital Synthesiser

DSP Digital Signal Processor

GPS Global Positioning System

HMI Human Machine Interface

Kg Kilogram

Km/h Kilometer per hour

Kpa Kilopascal

LLH Latitude, Longitude, Height

LO Local Meridian

m Metre

mBar Millibar

MSR Movement and Surveying Radar

PSU Power Supply Unit

Radar Radio Detection and Ranging

RF Radio Frequency

RRS Reutech Radar Systems

RSU Radar Sensor Unit

SDP System Data Processor

TRX Transceiver

TS Total Station

USB Universal Serial Bus

V Volt


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INSTRUCTIONS ON HOW TO USE THIS OPERATOR MANUAL

This technical manual consists of one volume, designed to provide its user with all the information required to

perform his tasks.

The information is arranged in Parts as follows:

PART 1: General Information, including system and equipment functional descriptions, physical

descriptions, interfaces and technical data.

PART 2: Operator Information, including Operator interfaces and operating procedures.

PART 3: Modification Information, including detailed descriptions of equipment modifications.





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Contents

PART 1: GENERAL INFORMATION ............................................................................................................. 25

1.1 SCOPE ............................................................................................................................................... 26

1.2 GENERAL DESCRIPTION ................................................................................................................ 27

1.2.1 Application Background .............................................................................................................. 27

1.2.2 MSR Overview ............................................................................................................................ 28

1.2.2.1 Power Supply .......................................................................................................................................................... 30

1.2.2.2 The Road Trailer ..................................................................................................................................................... 32

1.2.2.3 The Radar Sensor Unit ............................................................................................................................................ 32

1.2.2.4 Antenna Positioning Unit ........................................................................................................................................ 32

1.2.2.5 Electronics Enclosure .............................................................................................................................................. 32

1.2.2.6 Physical Characteristics .......................................................................................................................................... 33

1.2.3 Basic Radar Principles ................................................................................................................ 36

1.2.3.1 Absolute Range ....................................................................................................................................................... 36

1.2.3.2 Relative Range ........................................................................................................................................................ 37

1.2.3.3 Speed of Light ......................................................................................................................................................... 37

1.2.3.4 Antenna Beam Width ............................................................................................................................................. 38

1.2.3.5 Radar Reflectors ..................................................................................................................................................... 40

1.2.3.6 Implication on Radar Siting ..................................................................................................................................... 41

1.2.4 MSR Measurement ..................................................................................................................... 41

1.3 ENVIRONMENTAL OPERATION LIMITS.......................................................................................... 42

1.4 SAFETY ............................................................................................................................................. 42

1.4.1 Deployment of MSR .................................................................................................................... 43

1.4.1.1 Pit driving hazards .................................................................................................................................................. 43

1.4.1.2 Trailer visibility Hazards .......................................................................................................................................... 43

1.4.1.3 Trailer Deployment and Levelling Hazards ............................................................................................................. 43

1.4.2 MSR Operational Hazards .......................................................................................................... 44

1.4.3 MSR Maintenance Hazards ........................................................................................................ 44

PART 2: OPERATING INFORMATION .......................................................................................................... 45

2.1 INTRODUCTION ................................................................................................................................ 46

2.2 TRANSPORTATION .......................................................................................................................... 47

2.2.1 Preparation for transport ............................................................................................................. 47

2.2.2 Handbrake Operation ................................................................................................................. 48

2.2.2.1 Engaged .................................................................................................................................................................. 48

2.2.2.2 Disengaged ............................................................................................................................................................. 49

2.2.3 Jockey Wheel Operation ............................................................................................................. 50

2.2.3.1 Complete Assembly adjustment ............................................................................................................................. 50

2.2.3.2 Lowering and lifting the wheel ............................................................................................................................... 50


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2.2.4 Hooking of MSR to vehicle ......................................................................................................... 51

2.2.5 APU Stowing .............................................................................................................................. 53

2.2.6 Removal and replacement of MSR antenna dish. ..................................................................... 53

2.2.6.1 Removal of Dish ..................................................................................................................................................... 53

2.3 SYSTEM OPERATION ...................................................................................................................... 55

2.3.1 Deployment Site Selection ......................................................................................................... 55

2.3.2 Physical Deployment Procedure ................................................................................................ 56

2.3.3 MSR Levelling Operation ........................................................................................................... 57

2.3.3.1 Deploying the levelling leg ..................................................................................................................................... 58

2.3.3.2 Levelling the MSR ................................................................................................................................................... 60

2.3.3.3 Storing the levelling leg .......................................................................................................................................... 61

2.3.4 Activating the MSR..................................................................................................................... 61

2.3.5 Deactivation of the MSR ............................................................................................................ 62

2.4 HMI SOFTWARE BASICS................................................................................................................. 63

2.4.1 System modes ........................................................................................................................... 63

2.4.2 Login .......................................................................................................................................... 64

2.4.2.1 Login to a radar (HMI) ............................................................................................................................................ 64

2.4.2.2 Maximum simultaneous logins (HMI) .................................................................................................................... 66

2.4.2.3 Option to kick current admin user ......................................................................................................................... 66

2.4.2.4 User confirmation pop-up on remote HMI exit ..................................................................................................... 67

2.4.2.5 Login to the simulator ............................................................................................................................................ 67

2.4.3 Positioner angle check at start-up .............................................................................................. 68

2.4.4 HMI Screen Layout .................................................................................................................... 71

2.4.5 Conventions and operation ........................................................................................................ 72

2.4.5.1 Changing and saving settings ................................................................................................................................. 72

2.4.5.2 Colour conventions ................................................................................................................................................ 74

2.4.5.3 Measurement conventions .................................................................................................................................... 74

2.4.6 System Information .................................................................................................................... 75

2.4.6.1 Battery Monitor information ................................................................................................................................. 77

2.4.6.2 Time Offset ............................................................................................................................................................ 77

2.4.6.3 Generator run time warning .................................................................................................................................. 78

2.4.6.4 Checks for causes of data corruption ..................................................................................................................... 78

2.4.7 Data and Site Databases ........................................................................................................... 79

2.4.7.1 Create New Data Base ........................................................................................................................................... 79

2.4.7.2 Load Data Base ....................................................................................................................................................... 81

2.4.7.3 Save Data Base ....................................................................................................................................................... 82

2.4.7.4 Delete Data Base .................................................................................................................................................... 82

2.4.7.5 Automatic file deletion .......................................................................................................................................... 83

2.5 GEO-REFERENCING AND TOTAL STATION OPERATION ........................................................... 84

2.5.1.1 Purpose of Geo-Referencing .................................................................................................................................. 84





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2.5.1.2 Explanation of the Geo-referencing Set-up page ................................................................................................... 86

2.5.1.3 Geo-referencing with Total Station off trailer (radar level) .................................................................................... 90

2.5.2 Typical procedure for Off Trailer Geo-Referencing .................................................................... 91

2.5.2.1 Physical setup ......................................................................................................................................................... 91

2.5.2.2 Total Station Operations for off Trailer Geo-Referencing....................................................................................... 91

2.5.2.3 Software input ........................................................................................................................................................ 98

2.5.3 Rapid Align™ ............................................................................................................................ 103

2.5.3.1 What is Rapid Align™? .......................................................................................................................................... 103

2.5.3.2 Geo-referencing with and without Rapid Align™ ................................................................................................. 104

2.5.3.3 Differences between old and new scan regions ................................................................................................... 105

2.5.3.4 Licensing ............................................................................................................................................................... 111

2.6 SCAN REGION SETUP ................................................................................................................... 112

2.6.1 Stability Scanning Set-up .......................................................................................................... 112

2.6.1.1 Scan Regions Set-up ............................................................................................................................................. 112

2.6.1.2 Creating regions and features with the Total Station. .......................................................................................... 113

2.6.1.3 Creating regions and features directly in the synthetic map with DTM. .............................................................. 116

2.6.1.4 Creating scan regions using a grid in empty space ............................................................................................... 117

2.6.1.5 Copying scan regions ............................................................................................................................................ 118

2.6.1.6 Surface area estimation ........................................................................................................................................ 119

2.6.1.7 High threat regions completely in normal scan regions ....................................................................................... 120

2.6.1.8 Applying and undoing changes ............................................................................................................................. 121

2.7 ALARM AND MOVEMENT CALCULATIONS .................................................................................. 122

2.7.1 Alarm Thresholds Set-up .......................................................................................................... 122

2.7.2 Movement since reference time ................................................................................................ 124

2.7.3 Two alarm levels ....................................................................................................................... 125

2.7.4 Area Threshold ......................................................................................................................... 126

2.7.4.1 How does the area threshold work? .................................................................................................................... 127

2.7.5 Display of multiple alarm thresholds ......................................................................................... 128

2.7.6 Alarming points highlighted on synthetic map .......................................................................... 129

2.7.7 Time windowing ........................................................................................................................ 131

2.7.7.1 Simple Description ................................................................................................................................................ 131

2.7.7.2 Movement calculation and time windowing examples ........................................................................................ 137

2.7.8 Sentinel ..................................................................................................................................... 144

2.8 SCANNING AND VIEWING MOVEMENT DATA ............................................................................. 145

2.8.1 Survey Scanning ....................................................................................................................... 145

2.8.2 Stability Scanning ..................................................................................................................... 145

2.8.2.1 Stabilisation and Repetitive Scan .......................................................................................................................... 145

2.8.2.2 Trend Plots............................................................................................................................................................ 146

2.8.2.3 Multiple Trend Plots ............................................................................................................................................. 151

2.8.2.4 Trend plots data reduction ................................................................................................................................... 153


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2.8.2.5 Inverse average velocity....................................................................................................................................... 158

2.8.2.6 Known stable regions ........................................................................................................................................... 163

2.8.2.7 Alarms and Region Status while scanning ............................................................................................................ 163

2.8.2.8 Synthetic Map ...................................................................................................................................................... 165

2.9 IMPORTING AND EXPORTING DATA ........................................................................................... 173

2.9.1 Exporting GIS Files .................................................................................................................. 173

2.9.1.1 Manual Export of GIS ........................................................................................................................................... 173

2.9.1.2 Automatic GIS Export ........................................................................................................................................... 174

2.9.2 Saving images .......................................................................................................................... 175

2.9.3 Importing/exporting region co-ordinates .................................................................................. 175

2.9.4 Export XYZ position to 3rd

party devices .................................................................................. 177

2.9.4.1 Sedna ................................................................................................................................................................... 178

2.9.4.2 Clonsa ................................................................................................................................................................... 178

2.10 GEOMOS AUTOMATIC TOTAL STATION (ATS) INTEGRATION .............................................. 179

2.10.1 Options dialog .......................................................................................................................... 179

2.10.2 Display of prisms ...................................................................................................................... 179

2.10.3 Prism movement trends ........................................................................................................... 180

2.11 SYSTEM EVENT LOG ...................................................................................................................... 182

2.12 OPTION MENU ............................................................................................................................... 184

2.12.1 Radar Connections .................................................................................................................. 184

2.12.2 Maintenance ............................................................................................................................. 185

2.12.3 Serial Ports ............................................................................................................................... 186

2.12.3.1 Total Station .................................................................................................................................................... 186

2.12.3.2 GPS .................................................................................................................................................................. 186

2.12.3.3 MSR Sentinel ................................................................................................................................................... 186

2.12.4 Performance ............................................................................................................................. 187

2.12.5 Conventions ............................................................................................................................. 187

2.12.6 Display ..................................................................................................................................... 190

2.12.7 DTM ......................................................................................................................................... 191

2.12.8 User Files ................................................................................................................................. 192

2.12.9 Alerts ........................................................................................................................................ 194

2.12.9.1 Critical stability alarm ...................................................................................................................................... 195

2.12.9.2 Geotechnical stability alarm ............................................................................................................................ 195

2.12.9.3 Fault mode ....................................................................................................................................................... 195

2.12.9.4 System warning ............................................................................................................................................... 195

2.12.9.5 Fuel low alert ................................................................................................................................................... 195

2.12.9.6 Stabilisation mode ........................................................................................................................................... 195

2.12.9.7 Comms lost ...................................................................................................................................................... 195

2.12.9.8 Synth map not scanned ................................................................................................................................... 195





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2.12.9.9 Acknowledging Alerts Pop-ups ......................................................................................................................... 195

2.12.9.10 User Triggered alerts ........................................................................................................................................ 196

2.12.10 DB Naming ............................................................................................................................ 198

2.12.11 Add-ons ................................................................................................................................. 199

2.12.12 Devices .................................................................................................................................. 200

2.12.12.1 Sedna ............................................................................................................................................................... 200

2.12.12.2 Clonsa ............................................................................................................................................................... 201

2.12.12.3 MP² (Multi-Purpose Mining Platform) ............................................................................................................. 202

2.12.13 ATS Integration ..................................................................................................................... 203

2.13 EXTERNAL CONNECTIONS ....................................................................................................... 205

2.13.1 Data Communications .............................................................................................................. 205

2.13.2 User Configurable Relays ......................................................................................................... 205

2.13.2.1 Electrical Connection........................................................................................................................................ 205

2.13.2.2 Software Configuration .................................................................................................................................... 206

2.14 MSR QUICK REFERENCE GUIDE .............................................................................................. 207

2.15 FAULT FINDING........................................................................................................................... 210

2.15.1 Power System ........................................................................................................................... 210

2.15.2 System Data Processor ............................................................................................................ 213

2.15.3 Positioner .................................................................................................................................. 215

2.15.4 TRX ........................................................................................................................................... 216

2.16 APPENDIX ................................................................................................................................... 217

2.16.1 Time Window Mathematical description ................................................................................... 217

2.16.1.1 Velocity calculation using all data .................................................................................................................... 218

2.16.1.2 Velocity calculation using a time window ........................................................................................................ 219

PART 3: MODIFICATION INFORMATION ................................................................................................... 222


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Table 1: Physical Characteristics MSR ........................................................................................................... 33

Table 2: Beam width and step size versus range. ........................................................................................... 42

Table 3: Environmental Conditions .................................................................................................................. 42

Table 4: Movement Envelope .......................................................................................................................... 56

Table 5: User access level details. .................................................................................................................. 66

Table 6: HMI Screen layout. ............................................................................................................................ 71

Table 7: Task Description. ............................................................................................................................... 73

Table 8: Number of reference points for geo-referencing. .............................................................................. 88

Table 9: Trend data reduction options. .......................................................................................................... 154

Table 10: Icon description .............................................................................................................................. 166

Table 11: Description of synthetic map flags ................................................................................................. 168

Table 12: Axes colour description.................................................................................................................. 172

Table 13: MSR Quick Reference Guide ........................................................................................................ 207

Table 14: Fault Finding Power System .......................................................................................................... 210

Table 15: Fault Finding SDP .......................................................................................................................... 213





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Figure 1: MSR Right View ................................................................................................................................ 29

Figure 2: MSR Left View ................................................................................................................................... 29

Figure 3: Power System Block Diagram ........................................................................................................... 30

Figure 4: Generator Components ..................................................................................................................... 31

Figure 5: HMI Enclosure ................................................................................................................................... 33

Figure 6: APU Enclosure .................................................................................................................................. 34

Figure 7: SDPEnclosure ................................................................................................................................... 35

Figure 8: Radar signals - absolute range measurements. ............................................................................... 36

Figure 9: Relative range measurements. ......................................................................................................... 37

Figure 10: Comparison of a laser beam to a radar beam. ............................................................................... 39

Figure 11: Component of the movement measured by the radar. ................................................................... 39

Figure 12: Radar reflectors. .............................................................................................................................. 40

Figure 13: MSR scan pattern example. ............................................................................................................ 41

Figure 14: Emergency Stop Engaged. ............................................................................................................. 48

Figure 15: Handbrake Engaged. ...................................................................................................................... 49

Figure 16: Handbrake Disengaged. ................................................................................................................. 49

Figure 17: Jockey Wheel. ................................................................................................................................. 50

Figure 18: Hook Configuration. ........................................................................................................................ 52

Figure 19: Control Panel ................................................................................................................................... 52

Figure 20: APU Stow Mechanism .................................................................................................................... 53

Figure 21: Dish looking up into the sky. ........................................................................................................... 54

Figure 22: Screw positions on the Antenna Dish. ............................................................................................ 54

Figure 23: Site choice example – effect of grazing angle. ............................................................................... 55

Figure 24: Movement Envelope ....................................................................................................................... 56

Figure 25: Levelling leg down (Vertical Position). ............................................................................................ 58

Figure 26: Levelling leg up (Horizontal Position). ............................................................................................. 59

Figure 27: Levelling indicator............................................................................................................................ 60

Figure 28: Linux Start-Up. ................................................................................................................................ 61

Figure 29: Reason for shutdown. ..................................................................................................................... 62

Figure 29: System mode state chart. ............................................................................................................... 63

Figure 30: System Mode .................................................................................................................................. 64

Figure 31: HMI login dialog box. ....................................................................................................................... 64

Figure 32: Login failure. .................................................................................................................................... 65

Figure 33: Kick admin user confirmation .......................................................................................................... 66

Figure 34: Status bar "switched to data user" .................................................................................................. 67

Figure 35: User confirmations on remote HMI exit settings ............................................................................. 67


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Figure 35: Exit confirmation screen ................................................................................................................. 67

Figure 35: HMI Simulator login dialog box. ...................................................................................................... 68

Figure 36: Positioner Angle Check. ................................................................................................................. 69

Figure 37: Positioner Angle Check Successful. ............................................................................................... 70

Figure 38: HMI screen layout. .......................................................................................................................... 72

Figure 39: Dataflow when changing settings. .................................................................................................. 73

Figure 40: Alarm Colouring. ............................................................................................................................. 74

Figure 41: The left hand Cartesian co-ordinate system. ................................................................................. 75

Figure 42: System Information page colouring. ............................................................................................... 75

Figure 43: System Information page. .............................................................................................................. 76

Figure 44: Battery Monitor Information. ........................................................................................................... 77

Figure 45: Time Offset. .................................................................................................................................... 77

Figure 46: Changing time offset....................................................................................................................... 78

Figure 45: Create New Database. ................................................................................................................... 79

Figure 46: Create New Site dialog with option to keep geo-referenced position selected. ............................. 80

Figure 47: Create new site database dialog box. ............................................................................................ 81

Figure 48: Load database dialog box. ............................................................................................................. 81

Figure 49: Current database download progress dialog box. .......................................................................... 82

Figure 50: Delete database dialog box. ........................................................................................................... 83

Figure 51: Locating Movement. ....................................................................................................................... 84

Figure 52: View synthetic map with Geological Info added. ............................................................................ 84

Figure 53: GIS point cloud data Export. .......................................................................................................... 85

Figure 54: Example of different deployment positions for Rapid Alignment. ................................................... 86

Figure 55: Geo reference initial setup page. ................................................................................................... 87

Figure 56: Incorrect choice for reference points. ............................................................................................. 88

Figure 57: Geo-referencing page layout. ......................................................................................................... 89

Figure 58: Setup Panel. ................................................................................................................................... 90

Figure 59: WiFi & E-Stop Positions on MSR. .................................................................................................. 92

Figure 60: WIFI and E-Stop Prism and Levelling Bubble. ............................................................................... 92

Figure 61: TS on Tripod setup. ........................................................................................................................ 93

Figure 62: Tribach Leveling. ............................................................................................................................ 93

Figure 63: Locking TS on Tribach.................................................................................................................... 94

Figure 64: TS interface (TDS 405) .................................................................................................................. 95

Figure 65: The TS interface (TS 02). ............................................................................................................... 95

Figure 66: TS Menu. ........................................................................................................................................ 96

Figure 67: TS Program Menu. ......................................................................................................................... 96

Figure 68: TS Survey Menu. ............................................................................................................................ 96

Figure 69: Point info page. ............................................................................................................................... 97

Figure 70: Example of optical target orientation for geo-referencing. ............................................................. 97





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Figure 71: Import total station points menu. ..................................................................................................... 98

Figure 72: Geo-reference points .................................................................................................................... 100

Figure 73: Geo-referencing residuals. ............................................................................................................ 100

Figure 74 : Example of a reference points CSV file. ...................................................................................... 102

Figure 75: Viewing licenses for add-ons. ....................................................................................................... 103

Figure 75: Rapid Align Loading Bar. .............................................................................................................. 104

Figure 76: Residuals table with Rapid Align™ option. ................................................................................... 105

Figure 77: View showing the two deployment sites: P1 and P2..................................................................... 106

Figure 78: Synthetic map showing last scan of Normal #0 (scanned from P1). ............................................ 107

Figure 79: Synthetic Map showing movement after first scan of Normal #1 (from P2). ................................. 107

Figure 80: Trend of a point from Normal #1 in area that overlaps previous scans of Normal #0. ................. 108

Figure 81: Trend of a point from Normal #1 in area that does not overlap previous scans of Normal #0. .... 109

Figure 82: Trend of a point from Normal #0 in area that would be overlapped by future scans of Normal #1.

........................................................................................................................................................................ 109

Figure 83: Trend of a user defined region from Normal #1 in area that is completely overlapped by previous

scans of Normal #0. ........................................................................................................................................ 110

Figure 84: Trend of a user defined region from Normal #1 in area that is not completely overlapped by

previous scans of Normal #0. ......................................................................................................................... 110

Figure 85: Scan Regions page layout. ........................................................................................................... 113

Figure 86: The TS import dialog box. ............................................................................................................. 114

Figure 89: Reference Grid used to draw regions without DTM. ..................................................................... 117

Figure 87: Copy Scan Regions on HMI. ......................................................................................................... 118

Figure 87: Surface area estimation. ............................................................................................................... 119

Figure 87: Example of point-to-point edge tolerance. .................................................................................... 119

Figure 87: Point-to-point tolerance settings. ................................................................................................... 120

Figure 87: High threat region pop-up if not completely in scan region. .......................................................... 121

Figure 88: Alarm Thresholds example. .......................................................................................................... 123

Figure 89: Alarm Thresholds page layout. ..................................................................................................... 124

Figure 90: Alarm Reference time. .................................................................................................................. 124

Figure 91: Critical alarm settings. ................................................................................................................... 125

Figure 92: Geotech alarm settings. ................................................................................................................ 125

Figure 93: Alarm threshold display on graph.................................................................................................. 126

Figure 94: Geotech alarm settings. ................................................................................................................ 127

Figure 95: Trend of point with different alarm parameter options. ................................................................. 129

Figure 96: Alarm points. ................................................................................................................................. 130

Figure 97: Synthetic map defaults options. .................................................................................................... 130

Figure 98: Effect on changing reference time shown on a relative range (RR) versus time graph. .............. 131

Figure 99: Calculating velocity of the data using relative range data. ............................................................ 132

Figure 100: Average Velocity data result derived from “all data” calculation. ................................................ 133


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Figure 101: Average Velocity calculation (Using a 2 hour Time Window). ................................................... 133

Figure 102: Average Velocity data result derived from a 2 hour time window calculation. ........................... 134

Figure 103: Actual vehicle speed versus time (AV). ...................................................................................... 136

Figure 104: Result of the calculations (1, 2, 3 and 4). ................................................................................... 136

Figure 105: Example with reference time set to earliest and no time window. ............................................. 137

Figure 106: Example with reference time set to 05 Aug 06:00 and no time window. .................................... 138

Figure 107: Example with reference time set to 05 Aug 06:00 and 6 hour time window. ............................. 139

Figure 108: Example with reference time set to earliest and 1 hour time window. ....................................... 140

Figure 109: Example with reference time set to earliest and 6 hour time window. ....................................... 140

Figure 110: Synthetic map with Time Window matching Alarm Threshold time window. ............................. 141

Figure 111: Synthetic map with Time Window not matching Alarm Thresholds time window. ..................... 142

Figure 112: Synthetic map Time Window locked to Alarm Time Window. .................................................... 143

Figure 113: Time Window set to 12 hours. .................................................................................................... 143

Figure 114: Time Window set to 6 hours. ...................................................................................................... 144

Figure 115: MSR Sentinel. ............................................................................................................................. 144

Figure 116: Stabilisation/Repetitive Scan modes. ......................................................................................... 145

Figure 116: Extended stabilization mode. ..................................................................................................... 146

Figure 117: Slider bar time control................................................................................................................. 147

Figure 118: Time manager ............................................................................................................................ 148

Figure 119: Trend plots showing movement for a region. ............................................................................. 149

Figure 120: Loading of synth and Trend data. ............................................................................................... 149

Figure 121: Trend plots showing movement for a selected point. ................................................................. 150

Figure 122: Trend plot hints ........................................................................................................................... 150

Figure 123: Multiple trend plots ..................................................................................................................... 151

Figure 124: Selecting points for multiple trend plots with synthetic map ....................................................... 152

Figure 125: Selecting points for multiple trend plots with object tree ............................................................ 152

Figure 126: Manage trend plots ..................................................................................................................... 153

Figure 127: Trend Manager ........................................................................................................................... 153

Figure 128: Trend plot showing data reduction. ............................................................................................ 154

Figure 129: Default data reduction rate option. ............................................................................................. 155

Figure 130: User event graph. ....................................................................................................................... 155

Figure 131: User event properties. ................................................................................................................ 156

Figure 132: Saving User event. ..................................................................................................................... 156

Figure 133: User file location setup. .............................................................................................................. 157

Figure 134: Events.csv file ............................................................................................................................. 157

Figure 135: Relative range trend plots showing user drawn lines. ................................................................ 158

Figure 136: Inverse average velocity selection and rate setting ................................................................... 159

Figure 137: Inverse Average velocity Example 1 .......................................................................................... 160

Figure 138: Inverse Average velocity Example 2 .......................................................................................... 161





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Figure 139: Inverse Average velocity divisor effect (0.1mm/h) ...................................................................... 162

Figure 140: Inverse Average velocity divisor effect (0.05mm/h) .................................................................... 162

Figure 141: Possible alarm states during stabilisation scanning.................................................................... 163

Figure 142: Synthetic map page layout showing surface grid with relative range colouring. ........................ 165

Figure 143: DTM file import. ........................................................................................................................... 169

Figure 144: Change DTM Colour. .................................................................................................................. 169

Figure 145: Panning control buttons. ............................................................................................................. 170

Figure 146: Yellow line to indicate where radar is pointing. ........................................................................... 170

Figure 147: Synthetic map showing model drawn as a point cloud. .............................................................. 171

Figure 148: Synthetic map with surface grid showing flags. .......................................................................... 171

Figure 149: Synthetic map centre of rotation. ................................................................................................ 172

Figure 150: Export GIS file. ............................................................................................................................ 173

Figure 151: Automatic Export Settings ........................................................................................................... 174

Figure 152: Example of CSV format ............................................................................................................... 174

Figure 153: Example of ASC format ............................................................................................................... 175

Figure 156: Importing/Exporting region co-ordinates. .................................................................................... 176

Figure 157: Export XYZ position to 3rd

party device ....................................................................................... 177

Figure 158: Export to pre determined device ................................................................................................. 178

Figure 159: Display of prisms ......................................................................................................................... 179

Figure 160: Change prism group values ........................................................................................................ 179

Figure 161: Prism drawn with movement colouring ....................................................................................... 180

Figure 162: Prism movement trends .............................................................................................................. 181

Figure 163: Prism time manager .................................................................................................................... 182

Figure 164: System event log ......................................................................................................................... 183

Figure 165: Local event log ............................................................................................................................ 184

Figure 166: Radar Connection Setup ............................................................................................................. 184

Figure 167: Maintenance Advance tab. .......................................................................................................... 185

Figure 168: Sentinel setup (HMI). .................................................................................................................. 186

Figure 169: Performance Setup ..................................................................................................................... 187

Figure 170: The conventions tab on the option page. .................................................................................... 188

Figure 171: Using Imperial units. .................................................................................................................... 189

Figure 172: The display tab on the option page. ............................................................................................ 190

Figure 173: DTM Tab on the Option Page. .................................................................................................... 191

Figure 174: User Files Tab on the Option Page. ............................................................................................ 192

Figure 175: Colour bar options. ...................................................................................................................... 193

Figure 176: Alerts Tab on the Option Page. ................................................................................................... 194

Figure 177: Acknowledge Alert Pop-ups. ....................................................................................................... 196

Figure 177: Event Logs with Acknowledged Alert Pop-ups. .......................................................................... 196

Figure 177: User Triggered Alerts. ................................................................................................................. 197


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Figure 177: DB Naming options dialog box. .................................................................................................. 198

Figure 178: Add-ons Setup ............................................................................................................................ 199

Figure 179: Sedna device setup .................................................................................................................... 200

Figure 180: Clonsa device setup ................................................................................................................... 201

Figure 180: MP² device setup ........................................................................................................................ 202

Figure 180: MP² overall status ....................................................................................................................... 202

Figure 181: ATS integration options .............................................................................................................. 203

Figure 182: User relay schematic. ................................................................................................................. 206

Figure 183: Change in relative range versus time. ........................................................................................ 217

Figure 184: Change in relative range since reference time. .......................................................................... 218

Figure 185: Average Velocity calculation using all data up to time of interest. ............................................. 219

Figure 186: Calculation of average velocities for the current and previous window periods. ....................... 220

PART 1 Error! Reference source not found.




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PART 1:

GENERAL INFORMATION


PART 1


of 223 © Reutech Mining, a Division of Reutech Ltd. and/or its suppliers


4 February, 2013

1.1 SCOPE

Information given in this part is given under the following main headings:

Section 2: General Description

Section 3: Environmental Operation Limits

Section 4: Safety





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1.2 GENERAL DESCRIPTION

1.2.1 Application Background

When ore bodies are horizontal and close to surface, it is sometimes economical to remove the overlying

material to expose the ore body. In strip-mining, the overlying material is removed and stockpiled for later

land reclamation. This overlying material is called the overburden. A ribbon-shaped section of the

overburden is removed temporarily, and mining operations are conducted in the exposed strip. When a

section is completed, i.e. all the usable material is removed, one of the walls is advanced, and the material

removed from this wall is used to replace the section where mining operations are completed. The section of

the wall that is being advanced is called the highwall, and the section of the wall that is filled in with material

removed from the highwall is called the low-wall. In opencast mining operations a vast, well-defined vertical

body of ore stretching from close to or on the surface to lower levels such as a volcanic pipe is being mined

on a long-term basis. This type of mining operation results in the formation of a large hole or pit, with steep

sides, often with terraced roads leading from the surface to the bottom of the mine.

In both these types of mining operation, people and equipment are constantly at the base of a steep, man-

made slope (the highwall or pit-wall). Instances where this slope fails resulting in a rock or earth-fall can

result in loss of life, injuries and damage or destruction of equipment. It has been found that there is nearly

always a small movement or alteration in the movement pattern in the face of the section of a slope about to

fail over the last few hours preceding the failure. The MSRsystem is intended to monitor mine slopes to

detect this movement and generate a warning of impending failure, so that personnel and equipment may be

removed prior to the failure.

A second function of the MSR is to determine the absolute range to the electromagnetic reflective centroid of

an area on a body of material or geographical feature. This functionality, combined with the accurately

surveyed position of the measurement origin of the MSR and the positioning system’s angular measurement

information, may be used to generate survey data of geographical features such as mine walls and rubble

dumps. The survey data so collected may be used for applications such as the calculation of material

removal volumes.


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4 February, 2013

1.2.2 MSR Overview

The MSR consists of four main assemblies:

Road Trailer with

o Extendable Legs

o Tow hook

o Jockey Wheel

o Park Brake

Electronics Enclosure housing the

o SDP and HMI enclosures (left hand side)

o APU electronics enclosure (right hand side)

o Weather Station

o Comms Module

o Warning Light

o Emergency Stop and Toolbox

Power Supply Unit housing the

o Diesel Generator

o Power Supply Enclosure housing batteries

o PSU Lid Assembly

o Control Panel and

o Fuel Tank

Radar System

o Radar Antenna

o Radar Transceiver

o Antenna Positioning Unit (APU)





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A view from the right-hand side of the MSR, with the high level components indicated, is shown in Figure

1. A view from the left-hand side of the MSR, with the high level components indicated, is shown in

Figure 2.

Figure 1: MSR Right View

Figure 2: MSR Left View

Radar Transceiver

Communications Module

Electronics Enclosure

Antenna Pointing Unit (APU)

Extendable Leg

Generator Cage

Tow Hook, Jockey Wheel and Park Brake Fuel Tank

Weather Station

Power Supply Enclosure

Human Machine Interface (HMI) Control Panel Toolbox

Radar Antenna

Strobe Light

Emergency Stop


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4 February, 2013

1.2.2.1 Power Supply

The MSR uses 230V 50Hz AC power (110V 60Hz for USA Models). This is obtained by inverting the 24V DC

power stored in the batteries. The batteries can be recharged from a 230V source, either an external supply,

or the onboard generator of the MSR. During charging the inverter unit acts as a charger. The Battery

Monitor (BMV) monitors the State Of Charge (SOC) of the battery bank to trigger charge cycles as needed.

Figure 3: Power System Block Diagram

1.2.2.1.1 Power Supply Electrical

The power system works as follows:

a. During battery operation the inverter draws current from the batteries and converts this to 230V 50Hz

AC. This is then fed to the external power outlet, the SDP and the APU drives. The APU drives have a

high leakage current due to the built in EMC filters. For this reason the APU drives are fed via an

isolation transformer.

When the battery charge has dropped down to 65% State Of Charge (SOC), the diesel engine will be

started. The state of charge of the batteries are monitored by a battery monitor (BMV) which sends a signal

to a Siemens Logo Module which will start and stop the engine. Up to five attempts will be made to start the

engine. If it is not running after the fith attempt, a fault signal is sent to the SDP. The generator will shut down

once the state of charge of the batteries is back to 95% SOC. The typical charge time is 9 hours, with an

automatic synchronisation once a month to 100% SOC.

Once the inverter charger detects that the AC voltage is present on the External Input plug (selector switch

must be set to external power on the control panel) and within the allowed range, the inverter will switch the

load over to the supply, using the internal changeover switch. The batteries will then begin to charge.

Charging currents of up to 40A are possible. Should the External supply fall away, the inverter will continue

to supply the load from the batteries. The diesel generator will not be started when the batteries are low

when in this setting.

The time between battery charges depends on the load. If the system is in normal operation, and the

weather is cool, the system can run up to 20 hours without charging. During warm weather the Peltier cooling

units will operate and this will reduce the time between charging periods.





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1.2.2.1.2 Diesel Generator

The diesel engine is a HATZ air-cooled, single-cylinder, four stroke, direct-fuel injection engine. All the MSR

configurations uses the HATZ 1D81Z model that has max power output of 10.3kW. These engines have a

low fuel consumption and the emission of noise is reduced to the absolute minimum. The engine is fitted with

an electric starter as well as a fuel cut-off valve which is used to stop the flow of the fuel to the generator and

turning it off.

Fuel for the engine comes from an external 100 litre fuel tank. The engine is fitted with a mechanical lift

diesel pump, because the bottom of the diesel tank is lower than the engine. The diesel is passed through an

inline spin-on fuel filter/water separator before being sent to the engine. The spin-on fuel filter/water

separator has a hand operated fuel priming pump. The diesel engine is coupled to an alternator.

Figure 4: Generator Components


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4 February, 2013

1.2.2.2 The Road Trailer

The Road Trailer also incorporates Extendable Legs that are used to level and stabilise the MSR during

operation.

1.2.2.3 The Radar Sensor Unit

The Radar Sensor Unit (RSU) and Antenna generates a radar beam that is used to derive very precise range

measurements, detecting tiny movements on a slope.

1.2.2.4 Antenna Positioning Unit

The APU, protruding above the top of the trailer, is used to scan the radar beam across the slope to be

monitored.

1.2.2.5 Electronics Enclosure

The Electronics Enclosure contains the SDP and Human Machine Interface (HMI) enclosures (left-hand side)

and the APU enclosures (right-hand side). These enclosures are rated as IP65 and are cooled using Peltier

type cooler units. The APU and the SDP enclosures and HMI, with the doors open and with the high-level

components indicated, are shown in Figure 5, Figure 6, and Figure 7 below.

1.2.2.5.1 The Processor Unit

The processor unit processes the signal from the RSU and, through the use of software algorithms, generate

slope stability and survey data. The MSR also incorporates a weather station that is used to compensate the

measurements for changes in atmospheric conditions. A Communications Module used to relay data to a

remote location.





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Figure 5: HMI Enclosure

1.2.2.6 Physical Characteristics

Physical characteristics of the MSR (with the antenna fitted and in the stow position) are listed in Table 1

below:

Table 1: Physical Characteristics MSR

Weight ± 1500 kg

Height ± 2500 mm

Width ± 1910 mm

Length ± 4900 mm

HMI Screen

USB Extention Port

Keyboard & Mouse


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4 February, 2013

Figure 6: APU Enclosure

AC Supply Circuit Breaker

Peltier PSU

Peltier Cooler

AC Supply Switch

Peltier Temperature Control

24V DC PSU

Azimuth Servo Amplifier

Elevation Servo Amplifier

Azimuth, Elevation and 24V

DC PSU Circuit Breakers

Heater Temperature Control

Heater





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Figure 7: SDPEnclosure

-15V DC PSU +12V DC PSU 12V DC PSU Peltier Tempereature Controller

Peltier PSU

Weather Station

Peltier Cooler

AC Supply Switch

Heater

System Data Processor

Digital Signal Processor

AC Supply Circuit Breaker

Heater Temperature Controller


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4 February, 2013

1.2.3 Basic Radar Principles

The basic principle of radar is to transmit high-frequency electromagnetic energy (radio waves) in the

direction of a target and then capture the energy that is reflected back by the target. Information about the

target can be derived from the reflected energy. In the case of MSR, the 'target' is the sloped wall that must

be observed, and the desired information is the distance (absolute range) and displacement (relative

movement) of the slope.

1.2.3.1 Absolute Range

Figure 8 shows how the radio waves travel from the transmitter to the target, in time t1. Some of the energy

is reflected by the target and returns to the receiver, taking time t2. The radar accurately measures the time

of flight of the radio waves (t1+t2). The distance to the target can then be calculated as (t1+t2)·(speed)/2.

For a radar, speed is the speed of light.

Figure 8: Radar signals - absolute range measurements.

This distance is called the absolute range to the target. The MSR can determine the absolute range to a

point target, accurate to 0.1m. For a rock slope, the distance to the electromagnetic reflective centroid is

measured. The absolute range measurements are used to derive a three dimensional model of the slope,

not for the displacement measurements.

Transmitter Target

Transmitted signal

t1

Transmitter Target

Transmitted signal

t1

Return signal

Receiver

Target

t2

Return signal

Receiver

Target

t2





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1.2.3.2 Relative Range

Displacement measurements, or changes in relative range, are determined from the phase of the radar

signal. This allows movement much smaller than 0.1m to be observed.

The left-hand diagram in Figure 9 shows the initial measurement of a target. In this simplified case, the

phase angle of the return signal is zero degrees. The target (or slope) is moving, so on the next

measurement there is a phase shift in the return signal. The radar determines this phase shift between the

two measurements and converts it to a change in relative range. At the radar’s frequency (~10GHz), a

phase shift of 5° equates to 0.2mm movement.

The MSR accumulates all these small changes in relative range in order to track the movement of the slope.

Figure 9: Relative range measurements.

1.2.3.3 Speed of Light

As mentioned previously, the radar’s measurements are dependent on the speed of light. In a vacuum, this

speed is constant – approximately 300 000km/s. In air the speed of light is very slightly slower. The ratio of

the speed of light in a vacuum to the speed of light in air is termed the refractive index, . The radar reports

the refractivity, , where ( )

The speed varies with changes in the air temperature, pressure and humidity. In order to measure the

millimetric movement of the slope accurately, the MSR must correct for the small changes in these variables.

The MSR has two sources for estimating the refractive index. The first is an onboard weather station to

measure the temperature, pressure and humidity at the radar. The second method uses a reference region

defined by the user – a so-called known stable region. The refractive index is calculated by assuming that

this reference region is not moving. In effect, movement of the rest of the slope will be measured relative to

this reference region.

In general, the radar is far from the slope, and the temperature, pressure and humidity of the air in between

can differ significantly from that measured at the radar. If the radar corrects based only the weather station

measurements, then these differences will affect the relative range measurements. Typically a daily cyclic

Transmitted signal

Return signal

Transmitted signal

Return signal

Transmitted signal

Return signal

Target movement

Phase shift

Transmitted signal

Return signal

Target movement

Phase shift

Initial Movement Movement


PART 1




4 February, 2013

variation of a few millimetres will be seen.

If a known stable region is used as well, then the performance of the radar can be improved. However, the

area where the known stable region is defined is critical. The user must be aware that defining the reference

region in an area that is moving will either mask this movement, or show other areas to be moving falsely.

Even with a known stable region defined, there will still be small variations which cannot be corrected for.

1.2.3.4 Antenna Beam Width

An important difference between radar-based and laser-based systems is the beam width. Due to the very

high frequency of lasers, the beam can be focused extremely sharply compared to radars. Figure 10 shows

how a laser can highlight a single reflector (or scatterer), while the radar beam generally illuminates multiple

scatterers. This has a number of implications, discussed below.

a. The radar needs to take fewer measurements to cover the same area as a laser scanner, however the

laser scanner can generate a much more detailed model of a slope.

The radar tends to average the movement of all the scatterers illuminated by the beam, while a laser/prism

based system focuses on a point target (the prism).

As a laser/prism-based system uses point targets, it can measure the vector, or direction of movement in all

three dimensions. The radar only measures the component of the movement in the direction of the radar.

This is depicted in Figure 11, where the dvector is the actual movement, and dradar is the component measured

by the radar.

The radar beam spreads out in a cone-shape, thus the larger the distance to the slope, the larger the area

highlighted. This makes it difficult to discern very small areas of movement at long ranges. The MSR

includes sophisticated algorithms that allow it to determine movement of scatterers within a fraction of the

beamwidth.





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Figure 10: Comparison of a laser beam to a radar beam.

Figure 11: Component of the movement measured by the radar.

slope

movement vector dvector

θ

dradar

dradar = dvector·cos(θ)

laser

radar


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4 February, 2013

1.2.3.5 Radar Reflectors

Certain objects are good reflectors of radio waves, and others less so. Figure 12 shows some examples.

Good reflectors include metal objects, objects with large flat surfaces perpendicular to the radar beam, and

objects with right-angled corners. Poor reflectors include low density, non-conductive materials (e.g. wood

and plastic), and objects with flat surfaces oblique to the radar. Sand and rocks tend to be intermediate

reflectors.

Figure 12: Radar reflectors.

Unlike lasers, the low frequency of radars means that they are unaffected by smoke and dust. The particles

are much, much smaller than the wavelength of the radar (~30mm), and thus appear almost “invisible” to the

radar.

Good reflectors

Poor reflectors

Intermediate reflectors





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1.2.3.6 Implication on Radar Siting

The implications of these factors on the siting of the radar is discussed in Part 2.

1.2.4 MSR Measurement

The MSR using an overlapping measurement technique, an example is shown in Figure 13. The

measurement points fall on a fixed grid – the user can choose the angular spacing of this grid. The minimum

point spacing is 0.25° by 0.25° for the MSR300 and 0.5° by 0.5° for the MSR200. Table 2 shows the MSR

beam width and corresponding step size at various ranges.

Figure 13: MSR scan pattern example.


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4 February, 2013

Table 2: Beam width and step size versus range.

Range Beam Width on slope 0.25deg step 0.5 deg step

MS

R200 &

MS

R300

100m 3.1m 0.4m 0.9m

500m 15.7m 2.2m 4.4m

1000m 31.4m 4.4m 8.7m

MS

R300

1500m 47.1m 6.5m 13.1m

2000m 62.8m 8.7m 17.5m

2500m 78.5m 10.9m 21.8m

1.3 ENVIRONMENTAL OPERATION LIMITS

The MSR is designed to operate and can be stored in the following conditions, as given in Table 3:

Table 3: Environmental Conditions

Temperature (Operational) -10°C to +55°C

Temperature (Operational with low temperature kit fitted) -30°C to +55°C

Temperature (Storage) -30°C to +70°C

Wind (fully operational) < 80 km/h

Rain < 60 mm/h

Transportation speed with antenna fitted 50 km/h

Transportation speed with antenna removed 120 km/h

Atmospheric pressure 580 mbar to 1085 mbar

Humidity Relative humidity of up to 95% at 35°C

1.4 SAFETY

The MSR has been designed to maximise safety, however the following should be noted in order to ensure

the safety of personnel and equipment during the deployment, operation and maintenance of the system.





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1.4.1 Deployment of MSR

OBEY ALL SAFETY WARNINGS AND CAUTIONS AS INDICATED ON THE MSR WARNING LABELS

AND/OR DESCRIBED IN THIS DOCUMENT.

1.4.1.1 Pit driving hazards

The MSR will normally be deployed in the opencast mining environment using a towing vehicle. The

following safety precautions should be taken:

a) Only a towing vehicle, which is suitable for the terrain, should be used.

b) Only a towing vehicle suitable for Trailer weight ( 1500kg) should be used.

c) A qualified vehicle technician should correctly adjust the Trailer’s active brake axle.

d) Only a suitably qualified driver should be used.

e) No personnel should be allowed on the Trailer while the trailer is moving.

f) The speed limits for towing the system should not be exceeded – 50km/h with the antenna mounted

and 120 km/h without the antenna mounted.

1.4.1.2 Trailer visibility Hazards

In order to ensure adequate trailer visibility to the very large vehicles and machines use in the mining

environment, the following safety precautions should be taken, unless standard mine procedure dictates

otherwise:

a) The Trailer Flashing light should always be switched on using the switch on the PSU Control Panel

on the PSU Enclosure (refer to Figure 2) while in the Mine Area.

b) The Trailer Buggy Whip should always be mounted on the electronics enclosure while in the Mine

Area.

1.4.1.3 Trailer Deployment and Levelling Hazards

The MSR is heavy and the following precautions should be taken when deploying and levelling the Trailer:

a) Beware of the potential pinch hazard (between tow vehicle and Trailer) when the MSR is hooked to

the tow vehicle and when the Trailer is positioned at the required site and unhooked from the

vehicle.

b) Beware of Trailer runaway – always engage the handbrake of the tow vehicle when parking and

engage the handbrake of the Trailer before unhooking the Trailer from the tow vehicle.

c) Beware of potential hazard of head bump injury against the antenna feed horn when the APU is in

the stowed position.

d) Beware of the potential pinch hazards when operating the Jockey Wheel and the Extendable Legs.

e) Disengaging the locking mechanism of the jockey Wheel can cause injury, as the assembly will fall

without notice. Ensure the limit ring is set correctly for the type of vehicle used.

f) A safety barrier should be erected around the Antenna side of the Trailer to prevent access inside

the Antenna movement envelope.

g) The diesel fuel presents a fire hazard. The fire extinguisher supplied with the MSR, should be

placed a safe distance away from the Trailer after deployment.


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4 February, 2013

1.4.2 MSR Operational Hazards

a) The electromagnetic energy density directly in front of the MSR Antenna during operation is below

the limit (<1Watt), which is safe for humans. However it is not advisable to come between the

Antenna Dish and the Antenna Feed Horn while the MSR is switched on.

b) The Antenna is automatically controlled and may move at any time. If access is required to the area

near the Antenna, the Emergency Stop Switch should be engaged. This switch inhibits movement of

the Antenna, but leaves the other subsystems of the MSR unaffected.

c) Beware of the potential pinch hazards when opening and closing the various doors and lids of the

MSR.

d) The APU and SDP Enclosures contain hazardous voltages and should only be opened by suitably

qualified Maintenance Technicians.

e) The area around the Generator exhaust may be hot and should not be touched with bare hands.

1.4.3 MSR Maintenance Hazards

a) The PSU, APU and SDP Enclosures contain hazardous voltages and should be isolated before any

maintenance work is done.

b) The PSU contains a 24VDC 300Ah sealed gel battery pack, which poses a stored energy hazard.

The Fuse F1.1 in the PSU enclosure should be removed before any maintenance work is done to

the PSU.

c) The generator enclosure contains parts that may be at high temperature and the generator should

be allowed to cool down before any maintenance work is done in the generator enclosure.

d) The PSU Enclosure contains various cooling fans. Beware of tools or small parts that may penetrate

the finger guards on the fans.

e) Prevent diesel fuel and engine oil spillage during engine maintenance. Ensure that suitable Spillage

Kits are on hand that the maintenance personnel are trained in their use.





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PART 2:

OPERATING INFORMATION


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4 February, 2013

2.1 INTRODUCTION

Information in Part 2 is given under the following main headings:

Section 2: TRANSPORTATION

Section 3: SYSTEM OPERATION

Section 4: HMI SOFTWARE BASICS

Section 5: GEO-REFERENCING AND TOTAL STATION OPERATION

Section 6: SCAN REGION SETUP

Section 7: ALARM AND MOVEMENT CALCULATIONS

Section 8: SCANNING AND VIEWING MOVEMENT DATA

Section 9: IMPORTING AND EXPORTING DATA

Section 10: GEOMOS AUTOMATIC TOTAL STATION (ATS) INTEGRATION

Section 11: SYSTEM EVENT LOG

Section 12: OPTION MENU

Section 13: EXTERNAL CONNECTIONS

Section 14: MSR QUICK REFERENCE GUIDE

Section 15: FAULT FINDING

Section 16: APPENDIX





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2.2 TRANSPORTATION

2.2.1 Preparation for transport

CAUTION

Speed limit of the system (with antenna fitted): 50 km/h (30mph)

Speed limit of the system (without antenna fitted): 120 km/h (70mph)

The MSR is transportable by road by means of a vehicle fitted with a standard tow bar and capable of towing

loads of up to 1500 kg. The MSR is fitted with an active brake axle that will assist with braking during

transportation.

Before hooking the MSR to the tow vehicle the following actions must be taken (in sequence):

STEP 01: System must be switched off.

STEP 02: All external cables i.e. external power connection must be removed.

STEP 03: Towing speed 0 to 50km/h (30mph): stow antenna (see section 0).

Towing speed 50km/h to 120km/h (30mph to 70mph): remove antenna (see section 2.2.6.1)

STEP 04: Engage Emergency Stop (and Dish Stop, if fitted) by pushing the button down. (Refer to Figure

14).

STEP 05: Blank off the 2 louvers in the PSU to prevent dust from entering the PSU (for long distance

transport).

STEP 06: APU must be stowed. Refer to Section 2.2.5 for the procedure.

STEP 07: Engage the handbrake. Refer to Section 2.2.2.1 for the procedure.

STEP 08: Jockey wheel must be lowered and secured. Refer to Section 2.2.3 for the procedure.

STEP 09: Stow and lock all three levelling legs. Refer to Section 2.3.3.1 for the procedure.

STEP 10: Close all access doors.

STEP 11: Ensure the spare wheel is secured under the trailer

STEP 12: Ensure tyre pressure of between 250 to 350 kPa on all tyres.


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Yellow line

not visible

Figure 14: Emergency Stop Engaged.

2.2.2 Handbrake Operation

The hand brake has 2 basic positions:

2.2.2.1 Engaged

To engage the handbrake, pull the lever towards the back of the trailer. It will automatically adjust itself to the

optimal brake position. See Figure 15.





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2.2.2.2 Disengaged

To disengage the handbrake it must be pulled to the front position. See Figure 16.

Figure 15: Handbrake Engaged.

Figure 16: Handbrake Disengaged.


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2.2.3 Jockey Wheel Operation

SAFETY WARNING

Disengaging the jockey wheel locking mechanism can cause injury, as the assembly will fall without

notice. Ensure the limit ring is set correctly for the type of vehicle used.

CAUTION

The MSR must be still and secured to the towing vehicle and the level legs must be extended before

the jockey wheel locking mechanism is loosened prior to deployment.

The jockey wheel has 2 principles of operation namely lowering of the complete assembly and adjusting the

height of the wheel itself (Figure 17).

2.2.3.1 Complete Assembly adjustment

To lower the jockey wheel assembly:

The locking mechanism must be released by turning the handle anticlockwise.

Once loose the assembly will drop to either the ground or to the limit as set by the limit ring.

The limit ring can be adjusted to the height of the vehicle used by loosening the screws and moving

the ring to the desired location.

2.2.3.2 Lowering and lifting the wheel

To lower the jockey wheel the handle must be turned anticlockwise.

To lift the jockey wheel the handle must be turned clockwise.

Figure 17: Jockey Wheel.

Limit Ring





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2.2.4 Hooking of MSR to vehicle

SAFETY WARNING

Beware of the potential pinch hazard (between tow vehicle and trailer) when the MSR is being

hooked to the tow vehicle.

No personnel are allowed on the MSR trailer during transportation

To couple the MSR to the tow vehicle the following actions must be taken:

STEP 01: Move the vehicle and/or MSR to align the MSR coupler to the tow hook on the vehicle. This

might require that the jockey wheel be used to lift the MSR to ensure that the MSR coupler is

higher than the tow hook.

STEP 02: Hook the safety chain over the tow hook as indicated in Figure 18.

STEP 03: Hook the emergency brake cable over the tow hook as indicated in Figure 18.

STEP 04: Lower the MSR onto the tow hook (with the jockey wheel).

STEP 05: The coupler on the MSR must indicate that the hook has been engaged as indicated in Figure 18.

STEP 06: Wind the jockey wheel to its highest position off the ground. Refer to Section 2.2.3 for the

procedure.

STEP 07: Release the jockey wheel clamp and lift the complete jockey wheel to the highest possible

position and clamp it securely into place. Refer to Section 2.2.3 for the procedure.

STEP 08: Couple the trailer light plug to the tow vehicle receptacle as indicated in Figure 18.

STEP 09: Verify operation of the indicator lights (left and right), brake lights and normal tail lights.

STEP 10: Disengage the handbrake. Refer to Section 0 for the procedure.

STEP 11: Activate the MSR flashing light (if required) by turning the “STROBE LIGHT” switch on the Control

Panel Figure 19.

The MSR is now ready for transportation.


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Safety Chain

Emergency Brake Cable

Hook Coupler Indicator

Trailer Light Plug

Trailer Light Receptacle

Extendable Legs Stowed

Handbrake Released (Forward)

Jockey Wheel Handle

Figure 18: Hook Configuration.

Figure 19: Control Panel





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2.2.5 APU Stowing

For transportation or maintenance purposes the APU must be locked in the stow position. Before stowing

ensure that:

1. The Emergency Stop Button or Dish Stop Button (if fitted) is pressed.

2. For transportation, the system must be switched off.

STEP 01: Move the antenna slowly to the locking position (align locking pin with the locking arm). Take care

not to use the antenna feed support for this movement.

STEP 02: Once the locking pin is aligned with the locking arm, release the pin by pulling it downward and

turning it before moving it upwards. Figure 20 shows the APU stow mechanism

Figure 20: APU Stow Mechanism

2.2.6 Removal and replacement of MSR antenna dish.

2.2.6.1 Removal of Dish

STEP 01: The MSR must be switched OFF.

STEP 02: You need to be at least two (2) people to be able to remove the antenna dish safely and to

prevent damage to the dish and/or system.

STEP 03: Remove RF cables from the TRX. Ensure all open connectors are protected from dust and

water.

STEP 04: Move the dish in a vertical direction so that it is looking up to the sky as far back as possible,

Figure 21.


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STEP 05: There are four (4) screws, eight (8) washers, two (2) spring washers and four (4) nuts.

These need to be removed while the other person holds on to the dish. Figure 22 shows the

screw positions.

Figure 21: Dish looking up into the sky.

Figure 22: Screw positions on the Antenna Dish.

4 screws, two located on top and two

located at the bottom of the gimble.





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2.3 SYSTEM OPERATION

2.3.1 Deployment Site Selection

Although it will be difficult to always get an ideal site for the deployment of the MSR the following should be

adhered to:

1) The site should be chosen to ensure unobstructed visibility to the slope that is to be monitored.

2) Where possible, the site should be chosen to ensure that the MSR beam would be as close to

perpendicular to the slope surface as possible. In general, angles of more than 40 away from

perpendicular to the slope should be avoided. For a typical example of site choice taking graze

angle into account, see Figure 23 below.

3) The site must be firm and level and stable.

Figure 23: Site choice example – effect of grazing angle.


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The movement of the MSR Antenna Positioning Unit (APU) is restricted to the following:

Table 4: Movement Envelope

Plane Movement Mechanical End Stops Software

Azimuth ±104° -100° to +90°

Elevation -33° to +55° -32° to 45°

Figure 24: Movement Envelope

2.3.2 Physical Deployment Procedure

SAFETY WARNING

Beware of the potential pinch hazard (between tow vehicle and Trailer) when MSR is positioned at

the required site and unhooked from the vehicle.

Beware of Trailer runaway – always engage the handbrake of the tow vehicle when parking and

engage the handbrake of the Trailer before unhooking the Trailer from the tow vehicle

Beware of the potential pinch hazards when operating the Jockey Wheel and the Extendable Legs

Beware of potential hazard of head bump injury against the antenna feed horn when the APU is in

the stowed position.

The diesel fuel presents a fire hazard. The fire extinguisher supplied with the MSR, should be

placed a safe but reachable distance away from the trailer after deployment

To decouple the MSR from the tow vehicle the following actions must be taken:

STEP 01: Engage handbrake. Refer to Section 2.2.2 for the procedure.

STEP 02: Remove the trailer light plug from the tow vehicle receptacle.

STEP 03: Release the jockey wheel clamp and lower the complete jockey wheel to the lowest possible

position and clamp it securely into place. Refer to Section 2.2.3 for the procedure.





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STEP 04: While lifting the trailer coupler handle, wind the jockey wheel downwards until the couple

disengages from the vehicle tow hook.

STEP 05: Remove the safety chain and emergency brake cable from the vehicle tow hook.

STEP 06: Lower levelling legs (all 3) to the vertical position and secure. Refer to Section 2.3.3.1 for the

procedure.

STEP 07: Using the three levelling legs level the MSR. Refer to Section 0 for the procedure.

STEP 08: Stow the Jockey wheel (opposite of STEP 04: & STEP 03:).

STEP 09: If the antenna was removed for transportation fit the antenna to the MSR. Reverse of Section

2.2.6.

STEP 10: Do not un-stow the APU, because you still have to do an APU software check, Section 2.4.3.

STEP 11: Place the Fire Extinguisher a safe but reachable distance away from the trailer.

STEP 12: Ensure the Emergency Stop (dish stop on some systems) is still engaged, because the APU

software check must still be done. Note: The yellow line must NOT show (see Figure 14).

STEP 13: The MSR can now be switched on.

Please Note: If the System light flashes then the System is in warm-up mode, this should only affect you

when you Temperature is below 0°C. If the system is in Generator mode, the generator will start to power the

heaters. When the System light is permanently ON, the system is at the correct temperature and the system

will power up as per normal.

STEP 14: Activate the MSR strobe light (if required) by turning the “STROBE LIGHT” switch ON, on the

Control Panel (Refer to Figure 19).

2.3.3 MSR Levelling Operation

During transportation the legs must be in the horizontal position. For levelling purposes the legs must be

moved to the vertical position.


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Figure 25: Levelling leg down (Vertical Position).

2.3.3.1 Deploying the levelling leg

Figure 25 shows the leg in the vertical position and Figure 26 show the leg in the horizontal position.

STEP 01: To lower the leg the 2 retaining bolts must be loosened slightly.

STEP 02: While supporting the leg by hand remove the locking pin and lower the leg to the vertical position.

It is easier if you shake the leg slightly while doing this.

STEP 03: Insert the locking pin. Again, it will help if you move the leg slightly while doing this.

STEP 04: Tighten the 2 retaining bolts.





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Figure 26: Levelling leg up (Horizontal Position).


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2.3.3.2 Levelling the MSR

To level the MSR at the deployment site all 3 levelling legs must be in the vertical position.

STEP 01: The levelling legs are adjusted downwards by turning the handle clockwise and upwards by turning

the handle anticlockwise.

STEP 02: Lift the MSR (using all 3 legs) to a position that the levelling legs support the trailer and that the

tyres and suspension of the trailer is not playing a stabilising role.

STEP 03: To level the MSR the levelling legs must be adjusted until both the bubbles on the level indicator

(refer to Figure 27) are centred between the indicator lines.

Figure 27: Levelling indicator.





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2.3.3.3 Storing the levelling leg

To store the levelling leg from the vertical to the horizontal position reverse the procedure as described in

Section 2.3.3.1

2.3.4 Activating the MSR

SAFETY WARNING

The PSU, APU, and SDP Enclosures contain hazardous voltages and should only be opened

by suitably qualified Maintenance Technicians.

The area around the Generator exhaust may be hot and should not be touched.

The start-up process takes about 5 minutes. During start-up, the System Data Processor will load the

operating system (Linux), the core application (SCS), and finally a graphical windowed environment, along

with the Human-Machine Interface (HMI) application. There should be no errors during this start-up. If there

are, make a note or take a picture, and contact Reutech Mining Support.

Figure 28: Linux Start-Up.


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2.3.5 Deactivation of the MSR

Prior switching off the MSR, the following should be done

1. Stop scanning.

2. Exit the HMI using the Radar Exit and halt system menu item (only available on the local HMI).

3. The HMI software requests a reason for Shutdown (see Figure 29), this is logged in the exception

file (Only available on the local HMI)

4. Wait until the message “System halted.” appears on the screen.

5. Switch off power by turning the key to the off position (see Figure 19).

Note: the system must be de-activated.

Figure 29: Reason for shutdown.





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2.4 HMI SOFTWARE BASICS

2.4.1 System modes

The system has four operational modes: Init, Set-up, Scan and Fault. Figure 30 depicts the system state

chart and Figure 31shows the mode information feedback on the HMI.. The modes and transitions are

described below.

Figure 30: System mode state chart.

Init On power up, the system enters initialisation mode. All of the system

components are initialised, and the most recent database is loaded again.

Set-up In this mode, site-specific settings can be changed (e.g. drawing scan regions).

The radar is completely under user control, and the APU can be commanded to

any desired position.

Scan In Scan mode the APU is controlled autonomously, and will point wherever

necessary for the current scan. There are two different scan sub-modes: stability

(for slope stability monitoring) and survey (for generating 3D survey models).

When a scan is completed or aborted, the system returns to Set-up mode.

Note: stability scan will scan continuously, while survey scan will scan all

regions once or twice (hardware dependant) and then stop. Settings cannot be

changed in Scan mode

Fault If a major problem occurs with any of the system components, the radar will

switch from Set-up or Scan mode to Fault mode. It remains in fault mode until

the fault is cleared (this may require a system restart). Once cleared, the system

will revert to Set-up or Scan mode. The system will not restart scanning

automatically if the fault was the emergency stop or generator lid. In this case the


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user must restart scanning manually. Some settings can be changed in Fault

mode.

Figure 31: System Mode

2.4.2 Login

There are two different versions of the HMI. The first is the normal HMI (Windows and Linux) which must

communicate with a MSR. The second is the simulator version (Windows only) which does not communicate

with a MSR. The simulator (msrhmi_sim.exe) is useful for training and demonstration purposes. It allows

previously captured data to be viewed, as if live on the system.

2.4.2.1 Login to a radar (HMI)

Once the normal HMI (msrhmi.exe) is loaded, the user will be presented with the login dialog box – Figure

32. In the top right corner of the login dialog box, the HMI’s version details can be viewed. Select the radar

to log into using the Radar drop down box. On the System Data Processor (i.e. the radar itself), choose

Local as the radar. For remote access, the desired radar must be selected, e.g. MSR001. The connection

details for the currently selected radar can be viewed by clicking on the Details >> button. Here the IP

address of the radar can be verified.

Figure 32: HMI login dialog box.





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A valid username and password for the selected radar must then be entered. There are four levels of

access, as described in Table 5. Valid passwords must be obtained from a supervisor.

Once the correct details have been entered in the login dialog box, click the OK button to attempt to connect

to the radar. If the connection is successful, the HMI will proceed to download the latest information from the

radar (refer to Section 0), and then proceed to the main screen. If a connection to the selected radar cannot

be established the error will be reported in red in the login box (see Figure 33). Examples of errors include

invalid username and password, the radar not being switched on, etc.

Figure 33: Login failure.


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Table 5: User access level details.

Access level Username Description

Monitoring monitor Minimal functionality – the user is only able to view the current state of the

system. No settings may be changed.

Data user data In addition to monitor level access, GIS files and trend plots may be

exported.

Administrator admin In addition to data user level access, settings affecting the scan area and

alarm thresholds may be changed. This user may also start and stop the

system scanning.

Note: Only one admin user may be logged in at a time. Additional

admin users will only be granted data level access.

Factory factory Complete access.

2.4.2.2 Maximum simultaneous logins (HMI)

The maximum simultaneous logins allowed at one time into the SCS is 20. Note: Only one user can be

logged in as Admin at a time.

2.4.2.3 Option to kick current admin user

Sometimes a user may forget to log out as Administrator either on the radar, or on their own PC, which then

prevents someone else logging in as Administrator. When there is already an Administrative user logged

into the radar via an HMI and another request is made for Admin rights, the new user will be given the option

to kick the other user and take Admin rights, Figure 34.

Figure 34: Kick admin user confirmation

If the current Admin user is demoted back to a Data user, a message will appear on the status bar at the

bottom of the HMI window, Figure 35 and the access level will indicate ‘Data’. Access to controls will be as

for a Data user, e.g. cannot create scan regions or start/stop scanning.





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Figure 35: Status bar "switched to data user"

If the HMI on the radar is logged in (any access level) and the SDP door is closed, then this kick event will

result in the radar HMI being logged out.

2.4.2.4 User confirmation pop-up on remote HMI exit

When exiting remote HMIs, a user confirmation can be requested to confirm if the user really wants to exit

the HMI. This confirmation is only applicatble to the remote HMI where it is enabled. To enable/disable this

feature goto ToolsOptionsDisplay as seen in Figure 36. The exit screen can be seen in Figure 37.

Figure 36: User confirmations on remote HMI exit settings

Figure 37: Exit confirmation screen

2.4.2.5 Login to the simulator

For the simulator, the login dialog is quite similar – see Figure 38. The details will be shown by default, and


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the Link type will always be Simulator. In addition, a data directory must be specified. This data directory

(for folders) contains all the database directories copied from the radar’s /root/scs/data directory.

Clicking on the … button next to the directory will allow the user to browse the PC’s file system. Note: just

browse to the correct directory and then click OK – no file must be selected. Also note that the Data Directory

must be one level above the actual site database. E.g. If you have a site database called MSR001_west-

wall in a folder called data, that the HMI must point to data, not data\MSR001_west-wall

Figure 38: HMI Simulator login dialog box.

A valid username and password for the selected radar must be entered. For the simulator, the passwords

match the usernames (monitor, data, and admin). The type of Radar used can be selected under the Radar

Type.

Limitations of the Simulator include:

Site databases cannot be saved.

Geo-referencing cannot be performed.

2.4.3 Positioner angle check at start-up





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Figure 39: Positioner Angle Check.

At start-up a quick safety check is done to verify the positioner angles (Figure 39). The radar cannot scan

and will be in Fault mode until the check has been successfully completed or ignored by user. The following

procedure is suggested when deploying the radar, and every time before switching on the system power:

Make sure the emergency (dish) stop is pressed – it will be easiest to leave it in after deploying the

radar. Note: this is not the switch that kills power installed on some systems (it will be on top of the

orange HMI box in these systems). This will disable the positioner and allow the antenna to move

freely. Now it will be safe to work near the antenna.

Stow the antenna and make sure the locking pin is in place (near the centre of the hole is preferred).

Again, it will be easiest just to leave the locking pin in after deploying the radar.

You must be logged in to the HMI as an administrator.

The positioner angle dialog will automatically pop-up (Figure 39) on the System Information page.

Alternatively you can click the Check… button in the Antenna Positioner Unit section of this page.

On the dialog:

Tick the Antenna is locked check box to confirm that you have locked the antenna.

If angle check is OK (Figure 40):


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a) Click OK.

b) Release the antenna locking pin.

c) Then release the emergency (dish) stop.

d) Continue scanning as usual.

If angle check Fails:

a) Keep the antenna stowed and emergency stop pressed.

b) Halt the system, switch off power and restart.

c) Complete the Angle check. If it keeps failing there may be a problem with the configuration or

APU.

This warning can be ignored, however it is not recommended to do so. Incorrect angles could result in the

wrong area being scanned and wrong movement/warnings being reported. If incorrect data has been

accumulated for a scan region, the affected scan region should be recreated.

Figure 40: Positioner Angle Check Successful.





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2.4.4 HMI Screen Layout

The layout of the main HMI screen is shown in Figure 41. High-level system control and page selection is

managed through the control and status panel on the left, while the currently selected page is shown in the

large area on the right. The details of each section follow:

Table 6: HMI Screen layout.

Scan control buttons The radar’s mode is changed using these buttons – scanning can be

started and stopped. Requires at least administrative privileges.

Views selection tabs Selecting one of these tabs can access different views of the stability

and surveying data. General system information is also available.

Selected tab The currently selected tab will appear to be pressed in.

Set-up selection tabs The parameters that must be entered prior to scanning are found in the

various Set-up tabs.

Current system mode feedback The system can be in one of four modes – the current mode will be

shown in colour here.

Alarm status table During scanning, all active regions are listed, along with their current

alarm status.

Status bar Information about the current user and database is shown here. If an

HMI error occurs, it will be shown in red on the right hand section of the

status bar. Such errors can be cleared by double clicking the bar.


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Figure 41: HMI screen layout.

2.4.5 Conventions and operation

The design of the HMI follows a few simple conventions. First the changing and saving of settings is

discussed, and then the colouring conventions. Thereafter, a few system measurement conventions are

defined.

2.4.5.1 Changing and saving settings

The user can perform four main tasks from the HMI, as far as changing settings is concerned. These tasks

are depicted in Figure 42, and discussed in Table 7 below.

Scan Control

buttons

View Selection

tabs

Selected Page

Setup Selection

tabs

System Mode

feedback

System Status

feedback

MSR300

Indicator





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Figure 42: Dataflow when changing settings.

Table 7: Task Description.

Apply changes After changes have been made on one of the set-up pages, the user can

update the radar’s core software by applying them. Note: if the settings

were successfully applied, the database will automatically be saved to disk.

Reset values To abandon changes that have been made on one of the set-up pages, the

user can use the reset option to read back the values currently in the radar’s

core software.

Save database After changes have been made and applied, these can be permanently

recorded by saving the current database to disk. Note: This is automatically

done after applying changes, but the user can request to save again, if

desired.

Load database The parameters stored for a different site can be loaded into the core

software and the HMI by requesting a database load operation.

Refer to Section 2.4.7 for a detailed discussion of site databases. Note: the radar will not scan while there

are any unapplied changes. Either apply the changes, or reset to the radar’s values.


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2.4.5.2 Colour conventions

There are two important colouring conventions: applying/resetting changes, and the status/alarms feedback.

As discussed in Section 2.4.5.1, when changing the radar’s settings, the user must first make the changes

on the HMI, and then when these are correct, apply them to the radar (all set-up pages have an Apply

Changes button). Settings that have been read from the radar are shown in black text, while blue text is

used to indicate changes that have been made on the HMI and are not yet known to the radar. After clicking

Apply Changes, the settings will return to black (if they were successfully applied). The user can also

choose to abandon any changes by clicking the Reset button. Note: if no changes have been made on a

page, these two buttons will be disabled.

The status and alarms colouring is applied to the system status, system information page, system modes,

and the alarms feedback. Four colours are used:

Green indicates no problems.

Yellow indicates a warning.

Red indicates a serious problem.

Grey indicates that the status is unknown.

Figure 43: Alarm Colouring.

More specific details of the colouring are given in the sections below.

2.4.5.3 Measurement conventions

Range is defined as the distance the radar beam travels from the radar to the slope. An increase in range

(i.e. a receding slope) is shown as positive movement on the HMI, while approaching slopes show a

decrease in range. The change in relative range is the opposite to deformation, i.e. an approaching slope

would show positive deformation, but a decrease in relative range.





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For orientation, heading is measured in the ground plane, clockwise from the positive X-axis. The system

uses a left handed Cartesian co-ordinate system (see Figure 44). The XY plane is parallel to the ground, and

Z indicates height. Typically X is taken as North, and Y as East but any option that obeys the left hand

definition is allowed. E.g. in South Africa, X is South, and Y is West. ToolsOptions…Conventions (see

2.12.5) allow the labels to be changed.

Figure 44: The left hand Cartesian co-ordinate system.

2.4.6 System Information

The System Information, page Figure 46, shows the current status of most of the components in the system,

as determined by Built-In Tests (BITs). The page is grouped according to sub-system.

The colouring of the System Information page and the system status feedback (on the status and control

panel), uses four colours to indicate status:

Green indicates that everything is operating normally.

Yellow indicates that the component is in a degraded state. The system will still operate,

but will not perform optimally.

Red indicates that a fault has occurred. As the problem is serious, the system will switch

to Fault mode and will no longer be operable.

Grey indicates that the system is unable to determine the status of the component.

Figure 45: System Information page colouring.

Note: Exceptions for Fault mode in Red are the 1-Wire Temperature Status and Generator Starter.

These can be red but do not cause the radar go into fault mode, as it is still able to scan.


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Figure 46: System Information page.

Each sub-system (e.g. Radar Transceiver or TRX) has a heading, which is always coloured using the

scheme above. The state of the sub-system is a summary of the status of its components, indicating the

worst status. Example (see Figure 46) In the Power Supply Unit case, the fuel is low and the generator will

not start once the fuel is finished, so the top-level status is yellow. If a critical problem in a subsystem occurs,

the top-level status will turn red.

The top-level status of all the sub-systems is always visible in the control and status panel on the left of the

HMI screen (refer to Figure 46). This allows the system health to be viewed at a glance.





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2.4.6.1 Battery Monitor information

The system information page can display additional information about the main battery bank and the starter

battery, if the BMV battery monitor is connected to the computer in the SDP (Figure 47). If the BMV is not

connected to the SDP then this functionality will not be available.

Figure 47: Battery Monitor Information.

2.4.6.2 Time Offset

Generally the MSR would be set to UTC time, this allows for easy maintanence and support. The offset can

be viewed on the HMI at the bottom right as seen in Figure 48.

Figure 48: Time Offset.

To view the data with the correct time, the time offset function is used. We set the time offset to the current

time zone where the MSR is being used. The data is displayed using the offset time, therefore displaying the

correct time and date.

The time offset display with have a yellow background should the offset be different to the remote computers

time zone. The time offset can be adjusted only by the admin user. Double-click on the time offset display the

change the time offset. Or open Tools, User Time Offset this will display the same window as seen in Figure

49. The window in Figure 49 will automatically detect the remote computers time zone and make the

appropriate changes in the window. Click Apply to save the changes, this will be saved on the MSR itself.


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Figure 49: Changing time offset.

Radar Time: Refers to the current time on the MSR.

Current Offset: Refers to the time added to the MSR time to get to the HMI’s display time.

User Time: Defaults to the time on the user’s local computer, but can be edited for custom offsets.

New Offset: Shows what the new offset will be if changes are applied

2.4.6.3 Generator run time warning

Warning text will show on the System Information page when the generator runs longer than expected. If the

generator does not stop within a few hours of this warning, then there may well be a problem. Note: The

generator will run longer than usual once a month in order to synchronise the BMV to the battery bank.

2.4.6.4 Checks for causes of data corruption

A number of checks are implemented in the SCS to monitor possible data corruption or failure to process

movement data. If such a problem does occur, the Software Status field (under SDP on the HMI) will be set

to Error. The system will stop scanning and go into Fault mode. The corresponding alert message pop-

up/email will indicate the problem.

Do the following:

1. Restart the radar and try to scan again.

2. If the problem occurs again soon after restarting scanning, then restart the system again, delete all

regions, make new ones and then start scanning again. A new site database is not required.





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2.4.7 Data and Site Databases

As mentioned in Section 2.4.5.1, site databases are used to permanently store a site’s settings. These

settings include the co-ordinates of the scan regions, the alarm thresholds, and the geo-referencing points.

The history of all the scans performed are also stored as part of a site database.

Database management (creating, loading, saving, deleting) requires at least admin access, and can only be

performed when the system is in Set-up mode. These four management functions are discussed below.

2.4.7.1 Create New Data Base

When deploying at a new site, the first thing to do is create a new database. Use the Radar Create New

Database... menu item. The dialog box is shown in Figure 50.

Figure 50: Create New Database.

The new site name should be descriptive of the current deployment location and must be unique. It is also

useful to include the date. Letters, numbers, spaces, hyphens and underscores can be used for the name.

The software can generate a default name for the database name see Section 0


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Figure 51: Create New Site dialog with option to keep geo-referenced position selected.

Note:

The option is only enabled if the current site is already geo-referenced.

The survey setup summary available from ToolsGIS–View geo-referencing summary… will show

the same summary as used with the original geo-referenced site. However, if this file has already

been deleted, then no summary will be available (the new site will still be geo-referenced though).

If the Show advanced options box is ticked, the user can select from various point resolutions and scan

rates. The available scan rates are determined by the type of MSR (MSR 200 or MSR 300) and the selected

horizontal point spacing. For MSR 200, the default of 0,5° at 10°/s is recommended, and for MSR 300 the

default of 0,33° at 12,5°/s is recommended. The 0,25° point spacing at 10°/s can be used for smaller scan

areas so that the total scan time remains short. (15 Minutes is good).

Note: the point resolution can only be set when creating a new database. However, the scan rate can be

changed at a later stage from the ToolsOptions…Performance (see 2.12.4) menu item, by selecting the

Performance tab. It is not recommended that this setting be changed once an area has been scanned, as it

may degrade the system’s performance.

The setting called “Known stable update period” (visible in the Figure 52) improves the refractivity estimation.

The update period to select depends on the expected stability of the atmospheric conditions as well as the

range to the slope being measured. Shorter times should be used for rapid variations and/or longer ranges.

However, shorter update periods will increase total scan time, so the period should not be made

unnecessarily short.

The default is 2 minutes, which should give acceptable performance up to about 1.5km.





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Figure 52: Create new site database dialog box.

2.4.7.2 Load Data Base

An existing database can be loaded using the Radar Load Database… menu item. The dialog box is

shown in Figure 53. By default, the sites are sorted alphabetically. Clicking on the Site, Created or Updated

column headings will change the order, also toggling between ascending and descending order. Select a site

from the list box and click Load. This will load the saved settings from disk into the radar’s core software;

thereafter the new settings will be downloaded by the HMI. Downloading the database information may take

some time, depending on the speed of the link and the amount of data. Figure 54 shows the download

progress dialog box.

Figure 53: Load database dialog box.


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Figure 54: Current database download progress dialog box.

2.4.7.3 Save Data Base

Using the Radar Save Database menu item, the radar’s current settings can be saved permanently to disk

(there is no dialog box for saving). The status bar will indicate if the save was successful. This must be done

prior to scanning – the HMI will warn the user if there are any unsaved changes. The user can ignore the

warning and start scanning (not recommended), or heed the warning and stay in Set-up mode. Note:

changes are saved automatically after applying, so saving should be unnecessary.

2.4.7.4 Delete Data Base

The final management function is deletion – this is performed via the Radar Delete Database… menu

item. The dialog box is shown in Figure 55 – select the name of the site database to delete, and press the

Delete button (the current site cannot be deleted). Note: once a database is deleted, it cannot be restored!

When finished, click the Done button.





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Figure 55: Delete database dialog box.

2.4.7.5 Automatic file deletion

Automatic deletion of old files to make space for new scan data will occur when the radar’s Hard Disk

becomes full. The file deletion starts when the disk is 90% full and deletes the oldest files (excluding

reference files) until the disk usage is 80%. If you want to keep old data, be sure to archive it off the radar

before it is deleted. The radar has space for one to three months of data.


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2.5 GEO-REFERENCING AND TOTAL STATION OPERATION

2.5.1.1 Purpose of Geo-Referencing

The purpose is to determine radar’s position and orientation in mine’s local co-ordinate system

Geo-referencing is useful for the following applications:

Surveying

Locating Movement (Figure 56)

Figure 56: Locating Movement.

Comparing movement to known geological boundaries (Figure 57)

Figure 57: View synthetic map with Geological Info added.

GIS point cloud data can easily be exported for use in other applications. ToolsOptions…GIS-





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Export points...(Figure 58)

Figure 58: GIS point cloud data Export.

For Rapid Alignment (see section 0), Figure 59.


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Figure 59: Example of different deployment positions for Rapid Alignment.

2.5.1.2 Explanation of the Geo-referencing Set-up page

See Figure 59, the positioner controls allow the user (with at least admin access) to move the positioner

around, if the radar is in Set-up mode.

Each click on one of the four outer buttons will step the positioner up, down, left or right.

The size of the step depends on the adjacent slider that can be set for coarse or fine movements.

Clicking on the centre button moves the positioner to zero azimuth and zero elevation (i.e. pointing

straight back behind the trailer).

The positioner’s current azimuth and elevation angles (in degrees) can also be read back on this

control.





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Apply / Reset

Co-ordinate System setting

Full / Quick setup method

AR Trace

Positioner Controls

Graph Types

On Radar or Off Radar TS position

Positioner Current AZ & EL angles

Figure 60: Geo reference initial setup page.

The Amplitude-Range (AR) trace plots the radar signal. The vertical axis shows the strength of the signal

and the horizontal axis shows the range. In addition to the AR trace, the Type box on the right allows a

phase versus range or a time domain plot to be viewed.

The MSR generates a three-dimensional model of the slope it scans. For this data to be useful for surveying

applications, it must be presented in the same co-ordinate system used by the mine, for example the Gauss

conform projection, in South Africa. In order for the 3 Dimensional (3D) model to be converted from trailer-

relative measurements to points relative to the mine’s geographic co-ordinate system, the trailer’s exact

position and orientation must be known. Determining this information is the process of geo-referencing.

A number reference points (see next paragraph) must be set up around the radar, with clearly visible

markers (e.g. a pillar, a stake, prism on a tripod etc). Typical ranges are between 50m and 1000m, but more

distant points may be used, as long as they are visible with the TS. In addition, the usual limitations when

performing a resection must be considered – e.g. the radar and the reference points may not lay on a circle

(refer to Figure 61). Once the points have been set-up, the GPS co-ordinates of the markers must be

surveyed.


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Figure 61: Incorrect choice for reference points.

The geo-referencing algorithm has two methods of operation – Full and Quick, which are described below.

There are three different options for geo-referencing - the number of points needed for each option is shown

in Table 8

Table 8: Number of reference points for geo-referencing.

Method TS position Minimum Maximum Recommended

Full Available 2 6 3

Full Not available 3 6 4

Quick Required 2 6 2

Full geo-referencing requires all co-ordinates to be given in 3D (Y, X, and Z), and also requires both azimuth

and elevation angles be measured to each reference point. Using this mode, the radar’s orientation can be

correctly determined in four axes (Y, X, Z, heading). It is also the only option if the TS’s position is unknown.

However, the algorithm will perform better if the TS’s own position is provided.

Quick geo-referencing is a slightly simpler option. Quick geo-referencing requires the TS’s position (Y, X and

Z) and at least two other reference points. However, the reference points need only the Y and X co-

ordinates to be specified, and the azimuth angle measured. Quick geo-referencing is especially useful with

distant landmarks such as towers.





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The layout of the geo-referencing page is shown in Figure 62. There are Apply Changes and Reset buttons

as with the other set-up pages.

The co-ordinate system settings box allows for either the Gauss conform projection, or latitude, longitude,

height (LLH); however, the latter is not currently implemented, and is disabled. For the Gauss conform

projection, the odd-numbered local meridian (Lo) can be entered. This will not affect the results and can be

ignored. Essentially this is just a local Cartesian co-ordinate system.

The setup tab settings allows either full or quick geo-referencing to be selected. The elevation angle and

height edit boxes will be hidden when the quick method is selected.

In order to help the user see at a glance which points have not yet been set up, an asterisk (*), will appear if

a point has not yet been edited.

Figure 62: Geo-referencing page layout.


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2.5.1.3 Geo-referencing with Total Station off trailer (radar level)

It is possible to geo-reference the radar with the Total Station positioned off the trailer (on a tripod or other

level surface). This will be explained in more detail in the following section. The Geo-referencing page is

divided into two panels to make room for the options.

Setup panel

This is where the user selects which method to use for geo-referencing.

2. Pick ‘Full’ or ‘Quick’ geo-referencing

1. Enter Gauss conform Lo [] (optional)

3. Total Station on or off radar?

4. TS position known? (required for Quick geo-referencing) Summary of user’s

selection on the left

Figure 63: Setup Panel.

Survey panel

This is where the surveyed co-ordinates are entered or imported from the Total Station (see Figure 62).





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2.5.2 Typical procedure for Off Trailer Geo-Referencing

Note: This assumes that the Total Station (TS) import cable connector is no longer mounted behind the

antenna, and the TS extension cable is permanently connected below the SDP. If not, then you should use

the antenna emergency stop when connecting/disconnecting the TS extension cable.

2.5.2.1 Physical setup

SAFETY WARNING

The dust covers of the TS cable should always be replaced after TS operations. Failure to do so may cause

damage to the dust cover, or to the connector. The carry-case should also be kept closed to prevent dust

from blowing in.

The following equipment is needed for Total Station (TS) operations:

b. The TS (in TS carry-case) with tribach

c. TS cable. (In TS carry-case)

d. TS rain/dust cover. (In TS carry-case)

e. 2x Small round prisms. (In TS carry-case)

f. TS tripod (supplied with MSR).

The TS can be used to define the outlines of scan regions, to mark features, and for geo-referencing. The

set-up of these will become apparent in the sections that follow.

2.5.2.2 Total Station Operations for off Trailer Geo-Referencing

STEP 01: Create a new database on the HMI if necessary. Refer to Section 2.4.7 to do this.

STEP 02: Attach a small prism to the bolt located at the back of the electronics enclosure next to the Wi-Fi

Pole “Wi-Fi side”. See Figure 65 (a). Adjust prism so that it is facing the TS.

STEP 03: Attach a small prism to the bolt located at the back of the electronics enclosure next to the

Emergency Stop Button “E-Stop side”. See Figure 65 (b). Adjust prism so that it is facing into

the direction where the TS will be placed.


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Figure 64: WiFi & E-Stop Positions on MSR.

STEP 04: Check the system’s levelling bubbles to see if the system is level. If not, adjust levelling legs until

the system is level. The bubbles must be as close to the centres of the spirit levels as possible.

See Figure 65(c).

Figure 65: WIFI and E-Stop Prism and Levelling Bubble.

STEP 05: Place tripod within 20m of radar, within view of both the prisms on the trailer and the geo-

reference markers on the mine. (See Figure 66)

(a) (b) (c)





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Figure 66: TS on Tripod setup.

STEP 06: Ensure the tribach is firmly screwed to the top of the tripod. Check the bubble to see that the

tribach is level. If not, adjust the legs of the tripod and the tribach foot screws until the tribach is

level. Figure 67.

Figure 67: Tribach Leveling.

STEP 07: Insert the TS into the tribach and turn the black connector lever on the side of the tribach. Make

sure that the lever is turned a full 180º and that the TS is securely fastened to the tribach. See

Figure 68.


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Figure 68: Locking TS on Tribach.

STEP 08: Attach the one end of the TS extension cable to the TS and the other to the cable socket

underneath the SDP cabinet Note: on most systems this end will be permanently connected. To

attach the one end of the cable to the TS, align the red dots while pushing the connector into the

cable socket. To connect the other end of the cable, the keyed connector will have to be aligned

with the keyed socket while turning. Be sure to replace the dust covers on the cable and socket

when removing the cable after use.

STEP 09: Switch on the TS by holding the red button on the right side of the TS display for a second or two.

STEP 10: If the electronic level is not shown automatically, push the FNC key. Select Level/Plummet (F1).

Follow the onscreen instructions to level the TS with the electronic bubble. After the electronic

level is within range, press OK (F4). See Figure 69 and Figure 70 (depending on which model of

TS is being used). Note: The tribach foot screws may need to be adjusted first until the black

electronic bubble is visible.





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Figure 69: TS interface (TDS 405)

Figure 70: The TS interface (TS 02).

STEP 11: If the generator is running, stop the generator using the generator 10 minute interrupt button on

the control panel (see Figure 19). Ensure that it is not running when measuring Wi-Fi and E-Stop

prisms.

STEP 12: The following sequence of TS instructions should be entered:


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o Starting the surveying program: On the TDS 405 model: Press the menu button (MENU),

Program PROG (F1), Surveying (F1). See Figure 71.

On the newer TS 02 models press the menu button (MENU), select Program, and then

select Surveying (F2).

Figure 71: TS Menu.

Figure 72: TS Program Menu.

o Setting the job: If a new job is required, then create one; otherwise the last job set will be

used. Set Job (F1) (See Figure 73), New NEW (F1), Input INPUT (F1), Now use the option

buttons to enter the name of the new job and press the red enter button when done. Press

OK (F4). The display should now briefly display: “Job set”.

Figure 73: TS Survey Menu.

1. Menu

2. Prog

3. Surveying





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Surveying points: In the surveying program main menu press Start (F4). This will make the

surveying program the main focus. Input the point ID by selecting the INPUT (F1) option (Figure 74).

Press the red enter button when done. Change the point ID (PtID) to something meaningful, e.g.

“W” for Wifi side prism. Site Prism and then push “ALL”. Change the point ID (PtID) to something

meaningful, e.g. “E” for E-stop Prism. Site Prism and then push “ALL”. Sight all the beacons that will

be used to geo-reference the system. Press the REC option between measurements If the REC

option does not appear on the display then press (F4) until it does. The point ID for each surveyed

point will auto-increment after each recording

Figure 74: Point info page.

Figure 75: Example of optical target orientation for geo-referencing.

STEP 13: When all the required points have been surveyed, then the points may be imported into the HMI.

This is described in next section, 2.5.2.3 software input.

Point ID

ALL


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STEP 14: Switch off the TS.

STEP 15: Remove the cable.

STEP 16: Remove the TS from the tripod.

STEP 17: Place it back into the carry-case.

STEP 18: Remove the prisms from the back of the enclosure and place it back into the TS carry-case.

STEP 19: Put the Power selector switch back to Generator if external power is not used (see Figure 19).

2.5.2.3 Software input

Open the HMI and go to the Survey panel of the Geo-referencing page (see Figure 62). Note: If the current

site database has been geo-referenced before, then there will already be some geo-reference points

entered. First delete all points using the Delete button, before continuing. Do not press Apply Changes.

The Total Station must be connected to the radar at this point (unless the measurements are going to be

entered manually). Click on the import points from total station button (see Figure 62) to open the TS import

dialogue (see Figure 76).

If the job list is not up to date, push the Update job list button. This will retrieve the list of jobs

currently stored on the TS.

Select the applicable job from the dropdown list, followed by the Import data button.

If necessary, the Settings… button will enable the user to select different TS communication

parameters. Normally these parameters will not need to be changed.

Geo-reference/region point import button

Trailer (prism) point import button

Figure 76: Import total station points menu.





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The TS points should now be listed in the TS import table. The TS import table displays the point ID,

horizontal angle, vertical angle, slope distance (slant range) and optionally an extra reference code

for each point.

Ensure that the TS pos. dropdown is set to Off Trailer since the Total Station was not on the trailer

when the points were measured.

In the Trailer Points table ensure that the cell underneath “Az (deg)” and next to “Wi-Fi side” is

selected.

Select the two measurements of the trailer prisms in the left hand table and push the Trailer (prism)

point import button. This will import the Azimuth, Elevation and Range measurements, Ensure that

the measurements are associated with the correct prisms (Wi-Fi side or E-stop side). Note: the

points can be copied one at a time, if preferred.

Select the geo-reference point measurements in the left hand table and then push the Geo-

reference/region point import button (located in the middle of the dialog box and centred between the

two tables). This will convert the TS points to radar points and place them in the object creation

table, on the right hand side.

Once the points are in the object creation table on the right, they may be used to create geo-

reference points. Click the Create button to do this. The points will now be in the list box on the

Survey tab.

Close dialogue.

Link the TS data to the correct geo-reference data (Figure 77).

1. On the survey tab, select the Gps ref dropdown menu, (if the correct reference points are not

visible use the bottom-most option load from file… to load the correct CSV file into the drop

down menu).

2. Select the first point (left most box, where all the imported Geo-referenced points are).

3. Select the Gps ref drop down and from the list select the corresponding reference point.

Repeat steps 2 and 3 with the next point until all have been correctly assigned.

4. Click the Apply Changes button, so that the radar attempts to calculate its own position and

orientation.


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Figure 77: Geo-reference points

Figure 78: Geo-referencing residuals.





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If the entered data does not result in a valid solution, the error will be indicated in the status bar. Check the

points and try again. The most common causes of failure are:

Incorrect association of points measured with the TS and the corresponding surveyed geo-

reference co-ordinates.

Incorrect survey information provided. E.g. incorrect co-ordinates.

Measuring the wrong points with the TS. E.g. measuring an adjacent reference point by mistake.

Incorrectly positioning the TS cross hairs on the target.

If the solution does converge, the resulting residuals will be displayed (Figure 78). This is described below.

The residuals table has a row for each reference point and shows the resultant azimuth and depression

(negative of elevation) residuals. Note: the Z [m] and Deg [d:m:s] columns will not be visible when

performing Quick Geo-referencing. The units [d:m:s] are degrees, minutes, and seconds.

The bottommost row indicates the residual limits. If the magnitude of any of the calculated residuals is larger

than these limits, it will be indicated in red. The geo-referencing will fail if any points are invalid. Check the

point’s co-ordinates and then attempt the geo-referencing again. Typically the residuals should be better than

an arc minute or two.

Note: Although the residuals limit can be changed, they should be changed only with commissioning and

not as a quick fix to get rid of bad residuals values, should you get bad residual values re-do the Geo-

Referencing and make sure that the measured points are correctly surveyed. Should these values be

changed it can have a detrimental affect regarding the Geo-referencing of the data. If needed, the limits can

be changed see Section 2.12.2

The survey reference point GIS co-ordinates (e.g. North, East, Height) are not saved to the

ref_points.csv file after pushing Apply on the Geo-reference Points page. The reason for this is because

many duplicate and often incorrect point co-ordinates would be written to the file. The duplicates result in a

warning message every time you switch to the Geo-reference Points page. Note: You must manually edit

the ref_points.csv file to stop this warning.

To modify the file on the radar, either edit it on another PC and then copy it to the /root/hmi folder, or run

the following command: gedit /root/hmi/ref_points.csv

Note: Either edit the file before switching to the Geo-reference Points page for the first time, or restart the

HMI for the new file to be loaded.


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Figure 79 : Example of a reference points CSV file.





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2.5.3 Rapid Align™

2.5.3.1 What is Rapid Align™?

Rapid Align™ refers to the automatic re-alignment of scan regions and scanned data after geo-referencing

the MSR. The main benefits of Rapid Align™ are:

Users do not have to manually redraw scan regions after moving the radar.

Since the scan regions are kept between deployment sessions, trend data can be viewed over a

longer period.

Regions can be extended or reduced, and the history for the original area will be maintained.

Requirements:

Rapid Align™ functionality will only appear if the required license is activated on the MSR.

The radar must be geo-referenced on every deployment.

Checking Rapid Align™ license from the HMI

To see if Rapid Align™ is available on a specific MSR, connect to it with the HMI. On the top menu, go to

ToolsOptions…Add-ons (see 2.12.11). If Rapid Align™ is licensed, the box next to it will be checked, as

shown in the screenshot below.

Figure 80: Viewing licenses for add-ons.

Note: This setting cannot be changed with the HMI software - the license has to be activated using a license

file on the MSR itself (Contact your local distributor for details).


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2.5.3.2 Geo-referencing with and without Rapid Align™

After successfully geo-referencing, a dialog appears to show the residuals (Figure 82:). The Rapid Align™

button can be found at the bottom of this window (if licensed). The dialog will also show the change in

position and angle between the last two geo-referencing results.

The preferred option is for the user to click the Rapid Align™ button. In this case, all active regions are

automatically recalculated from the radar’s new position. The Rapid Align function makes sure it loads all the

regions to the latest synthetic maps before the new regions are created. This is to ensure the new regions

are in the correct spot. The Rapid Align loading bar, as seen in Figure 81, in the HMI at the bottom right can

be used to judge the completeness of the Rapid Alignment process. Although the regions are re-created in

the process, they still keep the history of the original region, which can be seen on the trend plots and in the

synthetic map colouring after scanning is resumed.

Figure 81: Rapid Align Loading Bar.

If the user skips the Rapid Align™ button and clicks the Close button immediately, the regions will stay

where they are relative to the radar. This is the same as it was before Rapid Align™ was implemented.

These old regions should not be scanned because the radar has moved. However, the user can manually

delete the old regions and create new ones. If the new regions overlap a section of the mine previously

scanned in the current site database, then these new regions will be initialised with the total movement

recorded in the overlapped areas. Completely new areas will start with zero movement.

Note: Features and deleted regions will not display correctly for the new radar position. If features are being

used, then they will have to be created every time the radar is redeployed. Deleted regions will show in the

correct place if the synthetic map time bar slider is moved to a time when the region existed.





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Figure 82: Residuals table with Rapid Align™ option.

2.5.3.3 Differences between old and new scan regions

The new scan regions (after Rapid Align™) may look slightly different from the originals because of range

estimates used in the calculations. The discrepancy becomes bigger the further the radar is moved, so if the

radar is moved far from its initial position, it may be necessary to create new regions from scratch (i.e. the

user must manually create them). In general, Rapid Align™ will function best if the radar is re-deployed

within a few meters of the previous deployment position

The user will also get a warning if a new region’s movement will have less than 80% correlation with the old

region. This means that the angle from the radar to the slope has changed too much for the history/trends to

be reliable. The radar measures the component of movement in the direction it is looking, so moving the

radar significantly could result in a different component of movement being measured. It is important that the

user takes this into account when viewing movement trends scanned from significantly different locations.

Rapid Align™ does not scale the movement values to attempt to compensate for this, since the true vector of

the movement is unknown.

2.5.3.3.1 Example data

The following screenshots show what the data from a Rapid Align™ database would look like. The example

is a relatively extreme case where the radar has been moved almost 500m between two deployments

(seeFigure 83). However, the angle from the two positions to the scan area is similar, so the movement

should be comparable.


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Figure 83: View showing the two deployment sites: P1 and P2.

Most of the data was scanned from position P1 using region Normal #0, shown in Figure 84. After moving to

position P2, a new region, Normal #1, was manually created (instead of using automatic Rapid Align™

method). Figure 85 shows that most of Normal #1 overlaps Normal #0, except for two small areas on the

bottom left and right edges. It is important to note that the first scan of Normal #1 starts with the total

movement accumulated for each corresponding point in Normal #0. The two small areas that are not

overlapped start with zero movement, i.e. they are uninitialized.





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Figure 84: Synthetic map showing last scan of Normal #0 (scanned from P1).

Figure 85: Synthetic Map showing movement after first scan of Normal #1 (from P2).


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Figure 86 shows the trends of a single point in the overlapped area, selected from Normal #1. The trend

covers two distinct time periods. The first is the data scanned from position P1, and extends from 3 March

until 19 March. The second is from 2 April to 3 April, the data scanned from position P2. During this gap

there is a flat line – the radar was not measuring this area during this time, so no data exists. Note: Rapid

Align™ does not attempt to extrapolate/predict the movement during this time. Also note that the cumulative

flags count continues in the new region, in other words, both relative range and cumulative flags are carried

through into new regions.

Figure 87 shows the trends of a single point outside the overlapped area, selected from Normal #1. In this

case the data only covers the time at position P2, on 2 April.

Figure 88 shows the trends of a single point inside the overlapped area, but this time Normal #0 is visible in

the synthetic map, not Normal #1. The difference is that Normal #1 has history, while Normal #0 does not.

This is why the trend plot only shows data for the time at position P1, when Normal #0 was scanned.

Figure 89 shows the trends of a user defined region, drawn on Normal #1, inside the overlapped area. As

with Figure 86, the data is shown for all time at both deployment positions.

Figure 90 shows the trends of another user defined region, also drawn on Normal #1, but this time part of the

region is inside the overlapped area, and part of it is outside the overlapped area. In this case some of the

points have data from both Normal #0 and Normal #1, while others are only covered in Normal #1. In order

to create a consistent trend, data is only shown where there is a complete overlap. Thus the trend only

shows data from Normal #1.

Note: Rapid Align™ will always initialise new regions with the movement from old ones, if there is any

overlap (movement from the most recent region is used). If this is not desired, then either increase the alarm

and viewing reference times to ignore old data, or create a new site database.

Figure 86: Trend of a point from Normal #1 in area that overlaps previous scans of Normal #0.





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Figure 87: Trend of a point from Normal #1 in area that does not overlap previous scans of Normal

#0.

Figure 88: Trend of a point from Normal #0 in area that would be overlapped by future scans of

Normal #1.


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Figure 89: Trend of a user defined region from Normal #1 in area that is completely overlapped by

previous scans of Normal #0.

Figure 90: Trend of a user defined region from Normal #1 in area that is not completely overlapped by

previous scans of Normal #0.





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2.5.3.4 Licensing

To see which features are available on a specific MSR, connect to it with the HMI. On the top menu, go to

ToolsOptions…Add-ons (see2.12.11). If a feature is licensed, the box next to it will be checked, as shown

in Figure 80. These checkboxes cannot be changed from the HMI – a new license file must be installed on

the radar. The following features are available:

MSR200: Best resolution and scan speed: 0.5° @ 10°/s, See Section 2.12.11.

MSR300: Best resolution and scan speed: 0.25° @ 10°/s, See Section 2.12.11.

Rapid Align™: See Section 2.12.11

ATS Integration: See Section 0

Note: if the license file is missing or invalid, only MSR200 functionality will be available.


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2.6 SCAN REGION SETUP

2.6.1 Stability Scanning Set-up

Prior to any scanning, a number of parameters must be set up – these are described below. First the scan

regions must be defined and then the alarm thresholds. Geo-referencing (see Section 2.5) can also be

performed. It is optional for stability monitoring, but is required for survey scanning, and if a Digital Terrain

Model (DTM) is going to be imported.

2.6.1.1 Scan Regions Set-up

Figure 91 shows the Scan Regions set-up page.

There are a few different ways of creating scan regions. The Total Station can be used to optically define the

outlines, the outlines can be drawn on an existing DTM or synthetic map, and finally, regions can be copied

or imported from a file. The methods will be described in the sections that follow.

On the Scan Regions page selecting the Show Tree Object toolbar button will toggle the display of the object

tree on the right-hand side of the Scan Regions page. In the object tree, a number of main branches with

their sub-branches will be displayed, for example:

Synthetic Map,

Scan Region,

o Active (All active regions will be listed here)

o New (All new regions will be listed here)

o Deleted (All the deleted regions will be listed here)

Features

DTM

Notice that regions are automatically labelled as “<region type> # <automatic numbering>” e.g. Normal # 0,

K. Stable # 4 or Exclusion # 3. A user defined description can be added by right clicking on the region in the

tree and changing the description.

There are three different ways to change the camera viewpoint in the scan region draw window namely:

Rotating: Left-mouse button and drag will rotate the scene

Zooming: Holding down Ctrl and the left-mouse button while dragging vertically

will increase/decrease the zoom level.

Panning: Dragging with the right-mouse button will pan the scene.





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Figure 91: Scan Regions page layout.

2.6.1.2 Creating regions and features with the Total Station.

After the region outlines have been measured with the total station (see section 2.5.2.2 but measure the

corners of the region instead of the reference points), they can be imported to the HMI. On the Scan

Regions page select the TS Import button as depicted in Figure 91. Figure 92 shows the TS import dialog

box. The following operations should be done while the TS is connected to the system:

If the job list is not up to date, push the Update job list button. This will retrieve the list of jobs

currently stored on the TS.

Select the applicable job from the dropdown list, followed by the Import data button.

If necessary, the Settings… button will enable the user to select different TS communication

parameters. Normally these parameters will not need to be changed.

Apply / Reset

buttons

Zoom slider

Region toolbar

Viewing toolbar

TS Import

Current Radar

position

Show / Hide

Object Tree

Object

Tree

DTM Import /

Reload Buttons


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Figure 92: The TS import dialog box.

The TS points should now be listed in the TS import table. The TS import table displays the point

ID, horizontal angle, vertical angle, slope distance (slant range) and optionally an extra reference

code for each point.

Ensure that the TS pos. dropdown is set to Off Trailer since the Total Station was not on the trailer

when the points were measured.

In the Trailer Points table ensure that the cell underneath “Az(deg)” and next to “Wi-Fi side” is

selected.

Select the two measurements of the trailer prisms in the left hand table and push the Trailer

(prism) point import button. This will import the Azimuth, Elevation and Range measurements,

Ensure that the measurements are associated with the correct prisms (Wi-Fi side or E-stop side).

Note: the points can be copied one at a time, if preferred.

Select the points of interest and push the Geo-reference/region point import button (located in the

middle of the dialog box and centred between the two tables). This will convert the TS points to

radar points and place them in the object creation table, on the right hand side.

Once the points are in the object creation table, they may be used to create scan regions. The

object creation table displays, for each point, the point id, azimuth angle, elevation angle, slope

distance and the extra reference code.





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From the Type dropdown list, select the required region type. There are five different types of regions, each

with different characteristics, as described below:

Normal The most commonly used type – the radar will only scan inside of the

normal regions. Normal regions may overlap, but this should be kept to a

minimum, as it will cause visual artefacts on the synthetic map.

High threat Possibly dangerous areas that need to be monitored with independent alarm

thresholds. High threat regions must be drawn inside of a single normal

region.

Exclusion Used to exclude parts of normal regions, e.g. areas with machinery or

vegetation can be excluded. These regions may overlap. Note: The area

outside of normal regions is implicitly excluded.

Known stable An area that is thought to be relatively stable can be indicated. Such areas

will be used to reduce the apparent range fluctuations associated with local

atmospheric conditions.

User Used to view movement trends for a small part of a normal or high-threat

region. Created only on HMI for viewing purposes. These regions are

temporary and must be created with each HMI session. If the same areas

are monitored regularly, rather add them as high threat regions.

The Type dropdown also gives the user the option to create features. Features are created for viewing

purposes on the HMI and are layered on top of the synthetic map. The radar does not have to be geo-

referenced to create features. Typical examples include fault lines, or areas where machinery is working.

Note: these are not exclusion regions, but to help the user orientate themselves. E.g. the movement is near

the fault line, or above some machinery. There are three different types of features, each with different

characteristics, as described below.

Polyline: A feature consisting of a finite number of points, created by line segments

Polygon: Similar to a polyline except that the first and last points are connected to

form a closed shape.

Polygon: Similar to a polyline except that the first and last points are connected to

form a closed shape.

Points: Individual points, e.g. to indicate the location of prisms.

Features are drawn on different layers. When a feature is created, the layer dropdown can be used to specify

the layer. Note: a new layer name can be typed in the dropdown box.


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Located to the right of the TS dialog box are various buttons for:

moving points up and down between the table rows,

deleting a selected point and then also

deleting all points.

These buttons only apply to points located in the object creation table (right) and not in the TS import table

(left).

When the user is satisfied with the points in the object creation table, the Create button should be pressed in

order for the region (or feature) to be created. When using the Total Station off the radar, the radar needs to

measure the range to each point. The positioner will move to do this. Select the Close button when all the

required regions have been created. This will close the TS import dialog and once again make the Scan

Regions page the main focus.

2.6.1.3 Creating regions and features directly in the synthetic map with DTM.

It is also possible to create regions without the TS. The region toolbar in the Scan Regions setup page can

be used for this function. (To use this function, a radar synthetic map must be visible, or the radar must have

been geo-referenced and a Digital Terrain Map imported).

Select the type of region that must be created;

o White - Normal region

o Red - High Threat Region

o Green - Known Stable Region

o Yellow - Exclusion Region

On the screen the HMI will prompt which corner of the region must be plotted.

Select where on the DTM or synthetic map the region must be and click the four corners if the

following order:

o Top left

o Top right

o Bottom right

o Bottom left





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2.6.1.4 Creating scan regions using a grid in empty space

Scan regions can be created in empty space using grid lines. To do this open the Scan Regions Page.

Change to Radar View. A large grid will be visible a in the drawing area. Region drawing can be done in the

drawing area using the grid as a reference. Please note the region will need to be within the mechanical

limits of the MSR. The bold lines indicate the zero Azimuth and Elivation lines. Figure 93 shows an example

of the large grid in empty space.

Figure 93: Reference Grid used to draw regions without DTM.


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2.6.1.5 Copying scan regions

Figure 94: Copy Scan Regions on HMI.

It is possible to duplicate the selected scan region by clicking the button just below the selection tool. This

will open the region creation dialog with the coordinates of the region already entered. All you have to do

there is to click the ‘Create’ button. Note that the new (copied) region is essentially a blank region with the

same coordinates – it does not inherit any scan history from the original region. (Unless you are using Rapid

Align™, see section.0). You should also delete the old region.

Note: For Known Stable Regions you must first delete the old region before copying it. (Select the deleted

region from the tree, under Scan RegionsDeleted).





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2.6.1.6 Surface area estimation

An estimate of the surface area estimation is visible in the Scan Regions page, this can be seen in Figure 95.

This is only available if there is valid data for the region. The area will exclude the points flagged as

excluded, out of range or no return.

Figure 95: Surface area estimation.

NOTE: The synthetic map surface of the selected region must be visible in order for the surface area to be

calculated. To view the surface area of a deleted region, move the Synthetic Map Scan Time marker back to

a time when the region existed.

In Order to improve the accuracy of the area estimation, the long edges that typically occur when the radar

beam catches a closer edge of the pit should be ignored. Figure 96 shows this phenomenom (left), and the

result if long edges are not drawn (right).

Figure 96: Example of point-to-point edge tolerance.


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Two new options relating to this point-to-point edge tolerance are available in the Tools>Options…>Display

as seen in Figure 97. These settings can be adjusted to remove long edges, or keep them, as desired. The

edge reduction is only applied at distances less than the range threshold. A range of 0m disables this

feature.

Figure 97: Point-to-point tolerance settings.

2.6.1.7 High threat regions completely in normal scan regions

When deleting a scan region that contains one or more high threat regions, a pop-up message as seen in

Figure 98 will remind the user that the affected region must also be deleted. (High threat regions must

always lie completely within an active normal region.)

If, after deleting the normal region, the high threat region still falls entirely within another active scan region,

then the high threat region does not have to be deleted.

The check is only performed when the user clicks on Apply Changes, so it does not matter in which order the

regions are deleted and created.





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Figure 98: High threat region pop-up if not completely in scan region.

2.6.1.8 Applying and undoing changes

Before scanning can commence, the changes have to be applied. This can be done by selecting the Apply

Changes button at the top of the Scan Regions page. By selecting the Apply Changes button:

The newly created regions will be made active,

The new features will be saved,

Deleted active regions are moved from the Active sub-branch to the Deleted sub-branch.

By selecting the Reset Values button all changes will revert to the state the regions were in when the last

changes were applied. Normally the changes are only applied after the alarm thresholds have been adjusted

(Section 2.7.1).

To ensure traceability of changes, once a region has been applied to the radar its location cannot be

modified. Changes can only be effected by deleting the region and creating a new one with the altered

parameters. However, alarm thresholds can be changed, and these changes are stored in a log file. If alarm

thresholds are going to be set for a region, then that should be done prior to applying.

If the desired modification is to enlarge the region, then consider drawing new regions next to the old one

instead.


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2.7 ALARM AND MOVEMENT CALCULATIONS

2.7.1 Alarm Thresholds Set-up

Once the scan regions have been defined, the alarm thresholds can be set (Note: the system must be in

Set-up mode). Figure 100 shows the Alarm Threshold set-up page. Select a region in the object tree – its

thresholds will be shown and can be edited. Note: only normal and high threat regions have alarm settings,

so only these two types of regions can be selected.

For each region there are three measurements that can be monitored. The change in:

1. Relative range,

a. Relative Range is the total accumulated movement between the scan at the reference time

and the last scan.

2. Average Velocity,

a. Average Velocity is calculated by dividing the total accumulated movement since the

reference time by the corresponding time or the total accumulated movements of a certain

time window divided by the time of the time window (see Section 2.7.7).

3. Velocity Delta.

a. Velocity Delta is effectively a measure of acceleration over the specified time window.

Any combination of these measurements can be set to trigger an alarm. For each measurement type, there

are two thresholds:

Approach (refer to Figure 99).

o Approach implies the slope is moving closer to the radar (i.e. the range is decreasing).

Recede (refer to Figure 99).

o Recede implies a slope that is moving further away. As mentioned earlier, change in relative

range is the opposite of deformation.

Generally you would not use negative signs when entering these values.





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Figure 99: Alarm Thresholds example.

The user can also set the area threshold. When the area threshold is enabled an alarm will be triggered

when any area within in the region at least as big as specified, exceeds the movement threshold, on

average. When it is disabled the average of the whole region must exceed a movement threshold for an

alarm to be triggered. For large regions it is highly recommended to use an area threshold.

If a region that has already been scanned is selected, then the trend plots (refer to Section 2.8.2.2) for the

selected region are plotted. Alarm thresholds are indicated using solid horizontal lines on the trend plots.

These lines are coloured red and orange by default.

The user can change Alarm settings as often as they like. This is useful as the windowed metrics take some

time to stabilise – sometimes the user would only want to enable alarm monitoring after this initial period.

Note: all changes to alarm settings are logged and can be seen in the system event log under ToolsEvent

log (see 2.11).


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Figure 100: Alarm Thresholds page layout.

2.7.2 Movement since reference time

The user must specify a reference time on the Alarm Thresholds page (Figure 101). Slope movements are

calculated using this value as the starting point, instead of all measurements since the first scan. (This is

useful for scan regions that have a very long history and take long to load, or when environmental factors,

e.g. blasting, have affected the movement). The reference time applies to all the scan regions on the site,

not just the selected region.

Figure 101: Alarm Reference time.

Alarm Area

Threshold

Define Time

Window

Alarm

Movement

Thresholds

Select region to set alarm

Alarm

Warning

Window

Define Time

Window

Alarm

Calculator





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Changes to the Alarm Reference Time will automatically be reflected on the Synthetic Map page (the

Viewing Reference Time defaults to the Alarm Reference Time). Synthetic map colouring and trend plots will

also adjust to reflect this new start time. Note: the actual reference time used will be the first available scan

data (.sm file) at or after the time specified. The automatic file deletion will not delete the reference scan

files.

2.7.3 Two alarm levels

The HMI software allows for 2 alarm levels:

Critical - indicated in red.

Geotechnical – indicated in orange.

For each level, the user can independently specify all the thresholds, i.e. time window, relative range,

average velocity, velocity delta and area threshold. The same reference time is used for all alarm

calculations.

Figure 102: Critical alarm settings.

Figure 103: Geotech alarm settings.


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Use the Tabs to switch between Critical and Geotech alarms to change/activate individual alarm thresholds.

The alarm thresholds are displayed as solid lines on the trend plots, as shown in Figure 104.

Figure 104: Alarm threshold display on graph.

2.7.4 Area Threshold

On the Alarm Thresholds page, the area threshold can be enabled and its size specified for each region.

When choosing the size of the area, it is important to consider not only the size of the failure expected, but

also the size and shape of the scan region.

At the bottom of the alarm settings, the HMI indicates maximum values for the width and height of the area

threshold. Maximum height is calculated as the total scannable height of the region. Maximum width is that

of either the top or bottom edge – whichever is narrower. Thus you cannot necessarily use the maximum

height and width simultaneously. Especially when regions have diagonal sides. For example, the 3x3 areas

can never fit into the high threat region below, and nor would a 5x10 area. A few 3x2 point areas could fit,

and many 2x2 areas could fit.





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Figure 105: Geotech alarm settings.

How to check:

If using any small or thin regions, or very large area thresholds, closely view the synthetic map for

these regions, and check that the alarm area thresholds selected are reasonable.

To get the view shown above, select the radar view: , select black background, ,

and the point cloud display, .

Be sure to modify alarm area thresholds to values that are reasonable.

2.7.4.1 How does the area threshold work?

This is best explained using an example. Suppose there is a rectangular region which is 20 points x 10

points in size, so a total of 200 points. When setting up alarms, the area threshold can either be enabled

or disabled, with the following results:

If the area threshold is disabled, then the alarm will only be triggered if the average movement

calculated using all 200 points in the region exceeds your thresholds. For large regions, this may

mask movement that is occurring in a much smaller area.

If the area threshold is enabled, then it means that the radar must check the movement in smaller

sections of the region. In the example, suppose an area threshold of 5 points by 5 points was

used. In this case, the radar will check every possible 5x5 point area that can fit into the 20x10

point area (there are 96 possible positions). If the average movement of the 25 points in any 5x5

area exceeds the thresholds, then an alarm will be triggered. This is very useful if you have a

large region, but only expect a much smaller area to fail.

The physical size of the 5x5 area depends on the distance to the area, and the angular point spacing

selected for the site database. For example, at a distance of 1000m, using 0.33° spacing, one point is

5.8m across. So 5 points will be 29m across. Thus a 5x5 point area will be 29m x 29m. At half the

distance, it will be half that, i.e. 14.5m x 14.5m. Using 0.25° point spacing, the area will be 21.8m x

21.8m at 1000m.

Using a larger area threshold means a larger area must move, before the alarm is raised. However, if

only a small area is moving, it will have to move significantly more than the alarm thresholds before the

average of the whole area will trigger this alarm, so the alarm may be delayed.

Using a smaller area provides an alarm that is more sensitive to small areas moving, but it can also result

in more false alarms. For example, the noisy measurements that can be caused by some mining activity

could trigger the alarm too.

Ultimately, the conditions of the mine must be considered when deciding on this trade off.


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Once the changes have been made, the Apply Changes button can be clicked to update the radar’s settings.

Alternatively, changes can be abandoned by clicking the Reset button.

If a small portion of the region is moving faster than the rest, and this is of interest, consider adding a high

threat region over that specific area. The new high threat region can then have different alarm parameters

set without affecting the existing region. Its average movement can also be viewed more easily.

2.7.5 Display of multiple alarm thresholds

Alarm settings for a high threat region can be different from the alarm settings for its normal parent region,

and thus a single point inside both regions can have multiple sets of alarm thresholds. For example, a

normal region has a recede threshold of 10mm, while a high threat region has a recede threshold of 5mm. If

a point inside both the high threat and normal regions has moved 7mm, then it will trigger the high threat

threshold. However, if the user views the point’s trend with the 10mm threshold they might not understand

why the alarm has triggered. Thus viewing and interpreting the data of a point or region within a high threat

region needs to be done with the correct alarm settings.

When selecting a point in a region, the trend plot will be displayed as normal. When right clicking on the

trend plot, a menu will open, displaying a list of all possible region/alarm parameters applicable to this

point/region (see Figure 106). The list is populated as follows:

N/HT# x : Critical [RR, AV, VD, TW HHh], Geotech [RR, AV, VD, TW HHh]

Where:

N/HT: indicates Normal or High Threat region.

x: Region number

RR : Relative range

AV : Average Velocity

VD : Velocity Delta

TW : Time Window

HH : Time window length

AV, VD, RD will only display if that specific alarm checking is enabled. If no alarms are enabled for a region

and alarm type “none” is displayed.

Also note that the trend plot legends will indicate in brackets which region’s Geotech and Critical thresholds

are displayed. E.g. “Geotech (HT#2)” indicates high threat region #2’s geotech threshold.





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Figure 106: Trend of point with different alarm parameter options.

2.7.6 Alarming points highlighted on synthetic map

Alarming points on the synthetic map are indicated with flashing dots (see Figure 107). An alarming point is

one which exceeds either the critical or the geotech thresholds, ignoring the area threshold. The colour and

size of the dots can be changed by the user ToolsOptions… Display (see 2.12.6). See Figure 108. The

dots are not affected by the synthetic map’s lighting or transparency settings, so experiment with those

display options to see what works best in your particular environment.

The highlights flash at a user-specified interval ToolsOptions…Display (see 2.12.6), or can be switched off

by clicking the red light-bulb icon on the toolbar (where the other lighting and scene options are). The HMI

has to be restarted for flash rate changes to take effect.

Note: The setting of a point as alarming or not is determined after that region is scanned, using the alarm

threshold at the time. The status is then saved to disk. It will not change retrospectively if you change alarm

thresholds later.


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Figure 107: Alarm points.

Figure 108: Synthetic map defaults options.





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2.7.7 Time windowing

2.7.7.1 Simple Description

2.7.7.1.1 Changing Reference time

By changing the reference time, all scans will be adjusted so that the movement starts at zero at the

reference time. Scans prior to the new reference time are ignored. See Figure 109 for an example.

Figure 109: Effect on changing reference time shown on a relative range (RR) versus time graph.

2.7.7.1.2 Velocity Calculation

Average Velocity is calculated by taking the movement in a given period of time and dividing it by that time

period. In other words, it is the slope of the straight line connecting the two points at the start and end of the

period. Time period can either be all available data up to that point, or a fixed time window.

Using all Data

The velocity calculation will be explained by means of an example. In this example the reference time has

been set to the first scan (00:00). With the “all data” method, the velocity is calculated by dividing all of the

movement by all of the time. An explanation is given in Figure 110.


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Figure 110: Calculating velocity of the data using relative range data.

Using the values in Figure 110, the average velocity (AV) for scan no.8 at 06:10 is

(( ) )

( )

Calculating average velocity for all the points, the result will be as follows Figure 111.

:





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Figure 111: Average Velocity data result derived from “all data” calculation.

The “all data” method results in a longer and longer time period being used for each successive scan. This

gives a very smooth velocity estimation, but the longer the monitoring time, the less sensitive the velocity

estimation becomes. Thus the option for a fixed time period presented in the next section.

Using a fixed Time Window

The velocity calculation will be explained by means of an example. In this example the reference time has

again been set to the first scan (00:00).

Scan 8’s Average Velocity will be calculated using a 2 hour time window as seen in Figure 112. Scan 8 (big

blue dot) was done at 06:10, and 2 hours before that at 04:10, scan 6 was done. These two scans will be

used to estimate the velocity at 06:10.

Figure 112: Average Velocity calculation (Using a 2 hour Time Window).

Using the Calculations:

( ) ( )

( ) ( )

( ) ( )

( )


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Figure 113 shows the velocity values calculated for each scan using a 2 hour time window. Note: there is not

always exactly 2 hours between points, so sometimes the time period used will not be exactly 2 hours. For

Figure 113: Average Velocity data result derived from a 2 hour time window calculation.

Velocity Delta (V∆)

Velocity delta is a measure of acceleration or deceleration of slope measurement. It considers the change of

velocity between two time periods. As such, it can only be calculated when using a fixed time window, not “all

data.

Here an example is given using a vehicle, and a 1 hour time window:

1. Should a vehicle travel a constant speed (60km/h) for 1 hour the Velocity delta will be zero (0),

Figure 114.

As the result is zero (0), the vehicle increased its velocity by 0km/h, Figure 115.





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2. Should the same vehicle travel at 60km/h and an hour later at 100km/h, Figure 114.

As the result is positive, the vehicle increased its velocity by 40km/h, Figure 115Error! Reference source

not found..

3. Should the same vehicle travel at 100km/h and an hour later at 70km/h, Figure 114.

As the result is negative the vehicle decreased its velocity by 30km/h, Figure 115.

4. Should the vehicle then travel a constant speed (70km/h) for 1 hour the Velocity delta will again be

zero (0),Figure 114.

As the result is zero (0), the vehicle velocity has changed by 0km/h, Figure 115.

Note: for more details see the mathematical description in the Appendix (section 2.16.1 page 217).


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Figure 114: Actual vehicle speed versus time (AV).

Figure 115: Result of the calculations (1, 2, 3 and 4).





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2.7.7.2 Movement calculation and time windowing examples

Relative Range and Cumulative Flags calculations are unaffected by changes in time windowing. The values

are reset to zero at the reference time and accumulated from then on. All time windowing calculations are

done with data from the reference time onwards. In other words, all data before the reference time will be

ignored.

2.7.7.2.1 Movement with no time window (All data)

Figure 116: Example with reference time set to earliest and no time window.

Note: The minimum divisor when calculating the average velocity is limited to 1h. This helps prevent false

alarms in the first hour of monitoring, and has no effect later. A slight drawback is the underestimation of

velocities during the first hour. Another issue is that the shortest time window is also 1h. Note: this is a

factory setting which can be changed if necessary.


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Changing the reference time will set the Relative Range and Cumulative Flags to 0 at that time and

recalculate Average Velocity and Velocity Delta from the adjusted (shorter) time period. This is shown in

Figure 117 (compare with Figure 116).

Figure 117: Example with reference time set to 05 Aug 06:00 and no time window.





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2.7.7.2.2 Movement with a time window

When changing the time window, the Relative Range and Cumulative Flags remain unaffected. These two

graphs just display the change accumulated from the reference time up to the current scan. However

Average Velocity and Velocity Delta are affected, as shown in Figure 118 (compared to Figure 117), with a

6h window. Note: The length of the time window is adjusted to fit into the available data, and expanded until

the requested time window length can be used (see Appendix for details).

Figure 118: Example with reference time set to 05 Aug 06:00 and 6 hour time window.


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With a small time window, the calculated Average Velocity almost matches the velocities estimated with the

lines on the Relative Range graph. Larger time windows will give smoother velocity graphs, but the

maximum velocity will be less. This can be seen in the next two screenshots which show the velocity with a

1h and a 6h time window. The user drawn velocity lines show a maximum estimated velocity of -40mm/h.

With a 1h window, the maximum average velocity is about -38mm/h. The 6h time window has a maximum

velocity of only about 12mm/h. Note: When selecting a time window this must be considered. Very short

time windows tend to have a high false alarm rate. Typically, a minimum of 2h is used.

Figure 119: Example with reference time set to earliest and 1 hour time window.

Figure 120: Example with reference time set to earliest and 6 hour time window.





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2.7.7.2.3 Viewing reference time

The Alarm Thresholds page includes the site Reference Time. All alarms will be generated using only data

since this time. It is used to “reset” the movement in all regions. As mentioned earlier, this is useful if

environmental factors such as blasting or atmospheric effects have negatively affected the movement data.

Trend plots and the synthetic map are shown using the current time window setting (the control can be found

on the time bar). The synthetic map time label will indicate the time difference between the visible scan and

the reference scan. The label’s hint will show the exact time of the reference scan.

Figure 121: Synthetic map with Time Window matching Alarm Threshold time window.


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By default the time window length is linked to the selected region. For example, Normal #0 has an alarm

setting of 12h, so if the display time window length is changed to 6h, then the user is warned by the label

below the Lock check box (Figure 122).

Figure 122: Synthetic map with Time Window not matching Alarm Thresholds time window.

To force the selected time window to remain, even when a region with a different setting is selected, check

the Lock checkbox. Note: alarms will always be triggered based on the time window defined on the alarm

settings page.

With the time window is set to All data, the windowing is effectively disabled. Velocity delta will not be

available, an example is shown in Figure 123.





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Figure 123: Synthetic map Time Window locked to Alarm Time Window.

Next we show two examples with the time windowing enabled. The change in velocity around 4pm, on

29 June is more noticeable.

Figure 124: Time Window set to 12 hours.


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Figure 125: Time Window set to 6 hours.

2.7.8 Sentinel

The Sentinel is used in conjunction with the HMI software to provide an audible alarm for radar warnings and

faults. It will also alert the user if communication with the HMI or SCS is lost.

Figure 126: MSR Sentinel.

To set the communication, see Section 2.12.3.1





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2.8 SCANNING AND VIEWING MOVEMENT DATA

2.8.1 Survey Scanning

Survey scanning and Stability scanning require essentially the same processing. There are two noticeable

differences. The alarms status table will not be visible when performing a Survey scan, and a Survey scan

will stop after scanning each region once for MSR200 and twice MSR 300.

2.8.2 Stability Scanning

There are two stages of stability scanning – Stabilisation and Repetitive these are discussed in the next

section. During stability scanning, the radar will continuously scan the defined regions. After each scan, the

radar checks the validity of the scanned data, and then measures the change in relative range for each point

scanned. From the change, the velocities of movement can also be calculated. During scanning there are

two pages for viewing the movement history – the Trend Plots page, and the Synthetic Map page. A

summary of the alarm status of each region is also provided.

2.8.2.1 Stabilisation and Repetitive Scan

When scanning a region of a slope for the first time, the radar performs a number of stabilisation scans.

These are used to determine which parts of the slope, if any, provide reasonable returns for stability

monitoring. The alarm status feedback, on the left hand control and status panel, will colour the region blue

(see Figure 127).

After a region has undergone stabilisation scan, it will be switched to repetitive scan. This is the normal

mode for stability monitoring. Only during repetitive scanning will slope movement be compared to the alarm

thresholds.

It is possible for regions to automatically revert to stabilisation scan mode. The two labels above the region

status table show an alarm status summary and a stabilisation/repetitive scan mode summary on top. A few

options are shown below.

Figure 127: Stabilisation/Repetitive Scan modes.

The stabilisation/repetitive scan mode panel has a hint which indicates if the regions are in atmospheric

stabilisation scan mode or not. If not, the regions are either new, or are in stabilisation scan mode due to a


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system restart. If they are, it shows the time elapsed, and minimum time remaining.

The table of regions has a hint which details the various colouring options.

Under ToolsOptions…Maintenance (see 2.12.2), the administrator can change the flags that trigger a

change to Stabilisation Scan mode. These should not be disabled, unless you are very sure of what you are

doing, and the implications thereof.

Low coverage and confidence warnings appear when the MSR is in stabilization mode. The coverage is

shown with a “?” to show it is unknown. This allows the low coverage alarm not to be triggered when in

stabilization mode.

The default for the stabilization mode is for the stabilization alert to clear before all the regions are stabilised.

The MSR has an option to extend the stabilization screen (Blue Screen) till all the regions are out of

stabilization mode. This is called extended mode. To cconfigure the stabilization mode go to

ToolsOptionsMaintanence. Then select the advanced options and enable the Extended alert option as

seen in Figure 128.

Figure 128: Extended stabilization mode.

2.8.2.2 Trend Plots

The trend plots show movement versus time graphs. The change in relative range, the average velocity, the





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velocity delta, the cumulative flags, temperature, refractivity and events can all be plotted.

The time bar at the top of the page shows the time and date the first and last scan of the site occurred (see

Figure 129). If a site has never been scanned, the first and last times will be the same.

Figure 129: Slider bar time control

Alarm Reference Time (static slider with red outline)

Note:

Viewing Reference Time (2nd slider from the left)

Synthetic Map Scan Time (middle slider)

Viewing End Time (right slider, previously just called End Time)

Time Manager

(Figure 130)


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Figure 130: Time manager

Clicking on the name of the region in the object tree will download and then plot the average movement for

the whole region.

The movement history of a single point can also be plotted. Click on the Select point button and then left

click somewhere inside a valid normal region on the synthetic map. After clicking, a small, cross will mark

the selected point, and the corresponding data will be downloaded (see Figure 133). The plot’s legend say

“user point”. To return to the average movement plot, click on an active region in the object tree.

To view the movement history of a small part of a region, a user-defined region can be created on the HMI.

Such a region must lie completely within a normal region. When this region is selected, the average

movement for all points inside it will be calculated and downloaded.

Note: The plots can be zoomed by dragging a box down and to the right on the graph, with the left mouse

button. Zoom out again by dragging a box up and to the left. Dragging with the right mouse button pans the

view.

Dragging the splitter (see Figure 131) all the way up will hide the synthetic map completely. It can be made

visible again by dragging the splitter more than about one third down into the area (or by restarting the HMI).





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Figure 131: Trend plots showing movement for a region.

A progress bar is visible to show the loading progress on the bottom left of the screen when loading or

processing data. If the procedure fails, the bar will be coloured red. It can be removed by left clicking on the

bar.

Figure 132: Loading of synth and Trend data.


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Figure 133: Trend plots showing movement for a selected point.

Trend plot data can be exported to a comma-delimited file (both region averages and single point data).

When viewing a trend plot (either the Trend Plots page, or the Alarm Thresholds page), use the

ToolsTrends-Export… menu item. The exported data file will contain all the region parameters and the

data from the current time window. These files can be easily viewed with Microsoft Excel.

The background colour of the trend charts, as well as the AR trace can be easily customised

ToolsOptions…Display (see 2.12.6). The user must switch between pages before the changes will be

visible.

2.8.2.2.1 Trend plot point value hints on mouse over

The trend plots will show a hint when the user moves the mouse over the graph. The hint will give the time

and value of the point at the mouse cursor. See the example below:

Figure 134: Trend plot hints





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2.8.2.3 Multiple Trend Plots

It is possible to display the trend plot for more than one region or point at a time. This is useful for

comparisons. The chart legend has been moved to the bottom to make room for more entries. (It used to be

on the right-hand side.)

Figure 135: Multiple trend plots

2.8.2.3.1 Adding trend plots

There are two ways that regions or points can be added to the chart. The first is by holding the Control key

when clicking with the selection tool (for regions or prisms) or the point selection tool (for specific points on a

synthetic map). With Control pressed, the trend plot will remain on the chart even when the next region or

point is selected.

For points, the selected item in the tree will be drawn with a thicker circle than the others. The colour of the

circle corresponds with the colour of the trend plot. Points selected this way will also be added to the Object

Tree, in a new User points branch.


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Figure 136: Selecting points for multiple trend plots with synthetic map

The second way to add trend plots is by using the context menu on the Object Tree. Right-click any scan

region or prism and select the new Add to trend charts option.

Figure 137: Selecting points for multiple trend plots with object tree

If an object has already been added to the trend charts, the popup menu will show a Redraw Trend option

instead. This is used to refresh the data for the selected trend plot.





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2.8.2.3.2 Removing trend plots

To remove trend plots, click the Manage plots button at the top right of the charts. This will bring up a list of

the currently plotted items. Select an item from the list and click Remove – this item will no longer be shown

in the trend plots.

Figure 138: Manage trend plots

Figure 139: Trend Manager

User points can also be removed by holding the Control key and right-clicking while in point selection mode.

This will undo the last selection made.

2.8.2.4 Trend plots data reduction

Downloading trend plots on the HMI can be quite slow, especially if the site database has been active for a

long time. In order to speed things up, there is an option which allows the HMI to retrieve less data. This

option is available only on the Trend Plots page. Note: the setting on the Trend Plots page also applies to

trends viewed on the Alarm Thresholds page.

Figure 140 shows the drop-down box used for selecting this feature. The options are shown in Table 9


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Table 9: Trend data reduction options.

Option Description

All Shows all available data

Auto Data rate depends on the age of the data:

0-2 days: all

2-4 days: every 0.5h

4-7 days: every 1h

1-2 weeks: every 3h

2-4 weeks: every 6h

1-3 months: every 12h

3-6 months: every 24h

> 6 months: every 7 days

0.5h, 1h, 2h, 4h, 6h, 12h, 24h, or 1w Time between data points is constant, as indicated

Figure 140: Trend plot showing data reduction.





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The default option is Auto, but this can be changed from the ToolsOptions…Display (see 2.12.6), as

shown in Figure 141.

Figure 141: Default data reduction rate option.

2.8.2.4.1 User event notes on trend plots

Users can add event notes to trend plots. First ensure that the Events chart is visible, then add events by

left-clicking on the plotted chart lines.

Figure 142: User event graph.


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Figure 143: User event properties.

Existing events can be edited by left-clicking on them. This will open an Event Properties dialog (see Figure

143). (The Event Type just determines the colour of the label.)

Figure 144: Saving User event.

Events can be loaded and saved from the ToolsEvents-Save menu, but the user will also be prompted to

save changes before exiting the software. Events are saved to a text file that is automatically loaded again at

the next start-up. This file only exists on the computer it was created on.

The default file name is ‘events.csv’, but this can be changed under ToolsOptions…User files (see 2.12.8).

The file will be created automatically if it does not exist yet.





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Figure 145: User file location setup.

The events can also be edited outside the HMI by using Notepad or Excel, as long as the format is kept the

same (see below).

Figure 146: Events.csv file

2.8.2.4.2 User drawn velocity lines

Users can draw velocity lines on the Relative Range chart. A callout will show the slope of the straight line

segment (using the current units for average velocity) as seen in Figure 147.

Use the buttons on the right-hand side of the chart to switch between Zoom/Pan mode and Line drawing

mode. In Zoom/Pan mode (default), the mouse is used to zoom and pan, just like on the other charts.

Default event

File name


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While in Line drawing mode, the mouse can be clicked and dragged to add velocity lines. The velocity line

can be used as an estimate of the movement over time. Lines can be selected and then dragged around, or

deleted by clicking the Delete button on the right-hand side of the chart. To remove all lines use the Clear all

button.

Figure 147: Relative range trend plots showing user drawn lines.

Note:

Velocity lines are not persistent between HMI sessions, and will only appear on the HMI on which

they were drawn. Also, they cannot be exported, other than as a screenshot.

The mouse cursor will not change to indicate if in zoom or line drawing mode – this can be a little

confusing.

2.8.2.5 Inverse average velocity

Inverse average velocity (or more commonly known as inverse velocity) can sometimes be useful in the

prediction of possible slope failures, particularly when the material is not brittle. The detail is explained in a

study done by N.D. Rose and O. Hungr, “Forecasting potential rock slope failure in open pit mines using the

inverse-velocity method”, International Journal of Rock Mechanics & Mining Sciences, Vol 44, 2006, p. 308-

320. The idea is that the time of failure can be estimated by looking at the movement data as an inverse

average velocity graph. As the movement of the slope accelerates, the average velocity will increase, and

thus the inverse average velocity tends to zero. According to the study, this tendency is relatively linear so





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fitting a straight line through the points of the graph and then finding the time axis intercept gives a good

estimation of when the slope will fail (see examples below).

This functionality is included in the HMI. It is a display enhancement only and does not affect the way in

which the alarm processing is done. A checkbox on the Trend Plots page enables the functionality. The

user can then draw a straight line on this inverse graph. The line will automatically display the time of the

intercept. Options related to this function are available, as seen in Figure 148.

Figure 148: Inverse average velocity selection and rate setting

By default the option to view the graph as an inverse average velocity will be turned off. This can be changed

in the options menu. The checkbox labelled “Inverse avg. velocity” should be checked if the user prefers to

have inverse velocity on by default. Another option is to specify the minimum aveage velocity divisor value

that will be used as part of the graph calculation. Points with a very low velocity result in a massive inverse

velocity. These large inverse velocities values make the graph difficult to read, so it is best not to use them.

The HMI will instead plot red dots at a zero value for points exceeding the threshold.


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2.8.2.5.1 Examples

Example 1

The example below shows an estimation where the predicted time and the actual slope failure differ by only

45 minutes. The estimation was determined by drawing a line through the last part of the graph. The

annotation will automatically be added, and like in the picture below, will show the estimated time of failure,

calculated as the intersection with the time axis.

Figure 149: Inverse Average velocity Example 1





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Example 2

The next example shows a projection where the estimated time of failure and the actual slope failure differ by

only 1.5 hours. The same steps were followed as in the first example. Obviously, the position that the line is

drawn will have a huge effect on the predicted time axis intercept, which makes this method an inexact

science.

Figure 150: Inverse Average velocity Example 2

2.8.2.5.2 The divisor value

In the screenshots below, notice how the graph changes when the minimum divisor value is changed. With

a 0.1 mm/h limit, the maximum inverse average velocity is 10 h/mm, while with the 0.05 mm/h limit, the

maximum inverse velocity is 20 h/mm. Adjust the minimum divisor value to suit your requirements.


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Figure 151: Inverse Average velocity divisor effect (0.1mm/h)

Figure 152: Inverse Average velocity divisor effect (0.05mm/h)





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2.8.2.6 Known stable regions

Users can view the “movement” associated with the known stable region. This “movement” is not actually the

movement of the slope in this area. Instead, it is the apparent movement caused by changes in the

atmosphere (assuming the slope is not moving). It effectively shows how much compensation is being done.

Any real slope movement will be superimposed on this data. The movement is given in millimetres, not in

parts per million.

2.8.2.7 Alarms and Region Status while scanning

The alarms are triggered when movement exceeds the alarm thresholds (see Section 2.7.1). Specifically,

the average movement for each region, or part thereof (when using the area threshold option), is compared

to its alarm thresholds. If the movement then becomes less than the threshold again, the alarm will be

cleared (see Figure 99).

If using an area threshold, a dotted user region will be automatically created showing the area with the most

movement. It will be coloured according to the alarm type, e.g. red for critical and orange for geo tech.

As detailed in Section 2.8.2.1, new regions undergo stabilisation scan initially. During this time they are

listed in blue in the alarm status table. (See figure Figure 127)

The alarm status table includes two metrics – confidence (“Cnf”), and coverage (“Cvr”). The coverage

indicates the percentage of the region that is currently showing “good” measurements over the last two

scans, while the Confidence is a longer term look at the quality of the coverage. The next section discusses

the various causes of “bad” measurements. If a region has less than 75% coverage or confidence, it will be

flagged with a warning status. Note: The 75% threshold can be changed by factory technicians, if required.

If all regions have undergone stabilisation scan, have good coverage, and do not exceed the alarm

thresholds, then the table will be green, as shown in the centre of Figure 153.

Figure 153: Possible alarm states during stabilisation scanning.

Poor region coverage/confidence:


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A System warning alert will be triggered if any region’s coverage or confidence is less than 75%. When in

stabilisation mode, the confidence and/or coverage may be shown with a “?”, while the alert text will state

this as -100%.





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2.8.2.8 Synthetic Map

The synthetic map allows the slope to be viewed as a three dimensional model. A part of the synthetic map

page is visible on the scan regions, alarm thresholds and trend plot pages. Here movement can be seen in

space, rather than in time (as with the trend plots). Besides movement, the user can also see which areas

are giving “bad” returns. The page layout is shown in Figure 154.

The page is dominated by the synthetic map’s 3D view. The quick view buttons jump between a front-on

view, a top view, a bottom view and radar view. Besides these views, the user can move the 3D model

around as desired. Control is directly on the synthetic map.

First select the Viewing mode toolbar button. Drag the map with the left mouse button to rotate.

Hold the <CTRL> key and then drag with the left button to zoom (move the mouse up to zoom out,

and down to zoom in). The zoom slider can also be used. Drag the map with the right button to pan.

The visibility sliders at the bottom of the page determine how much of the slope can be seen, by

cutting off the left and right edges.

Figure 154: Synthetic map page layout showing surface grid with relative range colouring.


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Table 10: Icon description

Delete: deletes the currently selected feature or region. For the data user, this button only allows

you to delete a user defined scan region. These are saved locally to your HMI, not to the radar.

Selection Mode: Selects a region or feature with left mouse button. Right Button: returns to view

mode.

Draw User Defined Region: Used to display the average movement of a small area inside a normal

or high threat region

Import a digital terrain model into the 3D scene

Reload all imported digital terrain models from file

Viewing Mode: Rotate = left button + drag; Panning = right button + drag; Zoom = left button +

<Ctrl> + drag

Point Info: select point for information: Az, El, range, location coordinates. Right click to remove,

right click again to exit function

Dimension Line: left click to measure distance between two points. Right click to cancel

Send selected point (XYZ) to external device.

Relative Range: colours the map based on the Cumulative displacement range. Distance displaced

Average Velocity: colours the map based on the velocity of the points

Velocity Delta: colours the map based on the acceleration of the points

Flags: shows instantaneous flags

Cumulative Flags: colours the map based on total number of flags for each point over given time

reference

These two buttons toggle between a point cloud map and a surface grid overlay map

Background: toggles white and black background.

3D Lighting: shades the grid overlay map for added 3D visualization.

Alarming Points: enables highlighted/flashing points that exceed alarm thresholds. Alarms must be

set to enable function.

Radar Position: shows yellow line that indicates current radar scan position.





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3D View: Allow reset of four views: Radar, Front, Top and Bottom.

Object Tree: displays or hides object tree on right side of screen. Useful for making viewing area

larger.

Panning Display: displays or hides buttons to pan the user’s view.

The Point info tool allows the positional details of a point to be viewed. Select the tool and then left

click somewhere on the map. The co-ordinates of the nearest measured point will be shown, and

the point will be marked with a cross. If the radar has been geo-referenced then the point co-

ordinates will be too. If not, co-ordinates are given relative to the radar (+X axis aligned with 0°

azimuth, +Y with 90° azimuth, and +Z upwards). Right-click (with the tool selected) to remove the

details. Once a point has been selected, it will be automatically selected when returning to the Trend

Plots page.

Next is the Dimension line tool. Mark the start of the line by left-clicking on the map. Repeat to mark

the end point. The Euclidean distance (strike) between the two points will be displayed. The

differences in X-, Y-, and Z-axes will also be shown. The difference is calculated by vector

subtraction of the first point from the second point. Right-click (with the tool selected) to remove the

details.

The colouring options allow the map to be pseudo-coloured using the relative range, average

velocity and velocity delta information see Section 2.12.8. The colour bar legend indicates the

values associated with the colours. Left-clicking the colour bar allows the limits to be changed.

Enter a single value that will be used for the positive and negative limit.

o Selecting the flags colouring option shows if there were any problems with the

measurements (see Figure 160). There are five possibilities, which are listed in Table 11.


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Table 11: Description of synthetic map flags

Flag Description Possible cause

Bad

Measurements at the point did not match

with measurements from the previous scan.

Interference in the beam (e.g. machinery).

The surface of the slope is changing (e.g.

crumbling rock or wet surface).

Vehicle Indicates when measurements may be

affected by a vehicle.

Any new large object in the radar’s beam.

No return No objects in the beam.

Looking at the sky.

Looking at too distant a slope.

Out of

range

When there are returns from the radar,

which are out of the system instrumented

range.

The radar is scanning a slope that is too far

away.

Excluded Indicates excluded points.

The slope being scanned is inside an

excluded region.

There are two different methods of drawing the 3D points. Surface grid (Figure 154), uses a solid

grid-based model, with a vertex at each measurement point. The point cloud (Figure 159) option

draws the model using only the measured points. The point cloud data is what is exported for GIS.

The diagonal yellow line in the centre of the slope indicates where the radar is currently pointing.

See Figure 158. If it is pointing somewhere in a measured region, the range to the slope is indicated

in the bottom right corner. Zooming the map out far enough will reveal a yellow cube that represents

the position of the radar.

The HMI gives the user the option to load multiple Digital Terrain Models (DTM), which will be drawn

in conjunction with the synthetic map. Note: This will only display correctly if the Geo-referencing

already took place. The DTM file must be structured in the form of a plain text ASCII DXF file

containing only polylines, points and triangular faces. From the file menu select ToolsGIS-Import

DTM File and select the file to be imported (if working at the radar itself, the USB flash drive will be

found under the path /mnt/flash/). In the Object tree the DTM checkbox controls the visibility of

the DTM once it has been imported. Figure 158 illustrates the DTM drawn in conjunction with the

synthetic map.

o It is possible to have more than one Digital Terrain Map (DTM) loaded at the same time. The

layers of each DTM can also be switched on and off individually.

o The colour, line width and lighting of each DTM can be changed by right-clicking it on the

Object Tree and editing its properties. By selecting the Default colour option, the software

will keep the colour(s) as imported from the DXF file. DXF colours use the AutoCAD Colour





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Index, so it should look the same as in your CAD software.

o The start-up settings for the DTM are found on a separate panel on the Options window

(Figure 156). DXF files added to this list will automatically be loaded at the next start-up.

Figure 155: DTM file import.

Figure 156: Change DTM Colour.

The synthetic map viewport has buttons to assist with panning. Just click the appropriate button to

move the scene up, down, left or right. The amount of movement per click is determined by the

selected step size. By default these buttons are only shown on the radar itself, not on remote PC’s.


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Figure 157: Panning control buttons.

Figure 158: Yellow line to indicate where radar is pointing.

The time bar, see Figure 129, allows the history of the scans to be viewed. The nearest scan to that

time will be downloaded. The time of the scan is also shown in text at the top of the synthetic map.

The Time Window period can also be selected in the time bar.

The background can be changed between black and white with the button marked bg.

The lighting button enables the lighting/shadowing to be enabled. By enabling this option, the 3D





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effect of the synthetic map is more visible.

Figure 159: Synthetic map showing model drawn as a point cloud.

Figure 160: Synthetic map with surface grid showing flags.

Synthetic map centre of rotation: The point used for rotating the synthetic map is normally the centre

of all the synthetic maps. Sometimes this automatically determined point is not ideal for navigating

in the 3D scene. The user can move this point. The feature is part of the Point info tool. Simply

select the Point info tool, and then hold down the <alt> key when clicking on a point anywhere in the

scene. The scene will jump slightly and the new rotation centre will be defined. You can also see the

rotation centre when in normal viewing mode (i.e. Viewing mode tool selected), by holding down the

<alt> key. The rotation point can be reset to the default by using one of the quick view buttons, e.g.

Front view. Note: On Windows, if the axes do not appear when pressing <alt> then try clicking in the


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synthetic map window first. On Linux press <ctrl>+<alt> together, then click to see the axes.

Figure 161: Synthetic map centre of rotation.

The axes shown do not have labels, but the colours define the axes as shown in Table 12

Table 12: Axes colour description.

Colour Radar axis Default user axis

Red X Northing

Green Y Easting

Blue Z Height or RL





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2.9 IMPORTING AND EXPORTING DATA

2.9.1 Exporting GIS Files

2.9.1.1 Manual Export of GIS

It is possible to export the points for Point Clouds, Regions and User Points. The lines showing will be

exported.

Figure 162: Export GIS file.

Note: If two regions overlap, the overlapping points from both regions will be included in the exported file.

View the desired synthetic map and check the flags for that scan – any points flagged as no return, out of or

excluded range will be excluded from the export. The procedure is as follows (and applies to all Save as…

functions in the HMI):

1. If working on the MSR itself, plug a flash disk into the USB cable on the left side of the HMI box.

2. Use the ToolsGIS-Export points... and select All regions, Selected Region or Partial region menu

item.

3. The user will be prompted if the movement data must be included or not.

4. A Save as… dialog box will open, where the file format can be specified (ASCII or Comma

Separated Values). On the MSR itself, the flash disk will be found in the /mnt/flash/ directory.

5. Wait a few seconds for the download to complete. This status bar will indicate the progress.

6. Unplug flash disk.

If the radar has not been geo-referenced, then the exported points will be defined with the radar as the origin,

with heading, pitch and roll of zero. A limitation of the GIS exporting is that scans done prior to geo-

referencing will not be in the correct reference frame.


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2.9.1.2 Automatic GIS Export

GIS data for scan regions can b e exported automatically whenever new data becomes available. This allows

the user to view the latest synthetic map in other software packages without having to manually export the

GIS file from the Tools menu. To enable the automatic export, go to ToolsOptions…User files (see 2.12.8)

and configure the settings at the bottom. The interval can be set using minutes. Extra data can be added to

the Export file, using the ticks. The source computer can be changed, therefore different data can be

exported without affecting the MSR itself.

Figure 163: Automatic Export Settings

There are two file formats to choose from. Both contain columns of data in text format, but in CSV files the

columns are separated by commas (better for viewing in Excel), while in ASC files the columns are

separated by spaces (to be a fixed width, better for viewing in Notepad).

Figure 164: Example of CSV format





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Figure 165: Example of ASC format

The header row and movement data are optional. Measurement units are the same as set up in the HMI.

The option to add a header row will also be seen in the normal GIS Export from the Tools menu.

2.9.2 Saving images

Screen shots can be taken using the ToolsSave Screen Shot… menu item. Note: If you want to save to a

flash disk, plug this in prior to taking the screen shot. After clicking on the menu item, a picture of the main

screen will be taken, and then the save dialog will open. Again, a flash disk connected to the radar will be

found in the /mnt/flash/ directory.

When connected to the MSR from a remote connection, the images can also be saved by pressing the print

screen button on the keyboard, and then pasting them onto another program. Press ALT + Print Screen will

just capture an image of the currently active window.

2.9.3 Importing/exporting region co-ordinates

The HMI allows the user to export region co-ordinates to a .csv file. The file stores the geographical co-

ordinates of the four corners of the region outline, as well as the current alarm settings. The user can then

import this region again at any time, e.g. after redeployment. This allows a quick and easy setup where the

same physical area can be scanned on each deployment (if the radar is geo-referenced), see Figure 166.

To export regions:

1. Ensure that only desired regions’ outlines are visible by turning the check boxes in the tree on or off,

as required (only visible outlines are exported).

2. Select ToolsGI-Export region co-ordinates… and select a file to save to.

To import regions:

1. Go to Scan Regions page. Delete any old regions, if they will be replaced.

2. Select ToolsGIS- Import region co-ordinates… and select a file to load from.

3. New regions will be created, so click Apply Changes.


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Figure 166: Importing/Exporting region co-ordinates.





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2.9.4 Export XYZ position to 3rd

party devices

This button allows the user to export a selected point’s XYZ co-ordinates (North, East, Height) to an external

device or server on the LAN.

Figure 167: Export XYZ position to 3rd

party device

As specified by the tooltip, the user must first select a point on the synthetic map or DTM by using the Point

info tool. The user must also select a target device from the dropdown list by right-clicking on the new button

and then making a selection. Only then can the button be left-clicked to send the selected point’s GIS co-

ordinates. The steps do not necessarily have to be performed in that order, as long as both a point and a

device are selected.


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Figure 168: Export to pre determined device

To configure a list of devices for the user to choose from, an Admin user must first enter the IP addresses

and other settings for the destination devices/servers. Two different systems are supported at the moment,

each with its own tab under ToolsOptions…Devices (see 2.12.12). Presumably only one system will be in

use at any specific mine.

2.9.4.1 Sedna

With the Sedna system, only the server’s IP (or hostname) and port number has to be specified. The server

will then return a list of available devices for the HMI to use.

2.9.4.2 Clonsa

With the Clonsa system, each device has to be specified separately. This includes the IP, an ID number (0-

99), a name and a protocol.





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2.10 GEOMOS AUTOMATIC TOTAL STATION (ATS) INTEGRATION

The HMI can display prisms and their recorded movement from an ATS database.

2.10.1 Options dialog

To configure the connection to the ATS database see Section 2.12.13.

2.10.2 Display of prisms

With a working database connection, the HMI will attempt to download all the prisms at login, or whenever a

database is loaded. Prisms are sorted by group and by name in the object tree, and drawn at their latest

coordinates in the 3D viewport. If new prisms are added in the ATS database, the HMI must be logged out

and in again to see the new points.

Figure 169: Display of prisms

By default, prism colour and size are set to the feature defaults ToolsOptions…Display (see 2.12.6). To

change the colour or size of specific prisms, right-click the node on the tree and set its properties. This can

be done at the prism, group or top (ATS prisms) level.

Figure 170: Change prism group values


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Prisms can also be drawn with movement colouring (relative range, average velocity, and velocity delta). It

uses the same colour scale as the synthetic map for scan regions. Use the left-hand toolbar buttons to switch

between colouring modes.

Figure 171: Prism drawn with movement colouring

2.10.3 Prism movement trends

By selecting a prism on the tree, or by clicking directly on the point with the selection tool, trend plots can be

displayed to show the movement history for that prism. The movement trend is calculated as the movement

of the prism in the direction of the radar. In order to calculate this, the following steps are followed:

1. Calculate distance from radar to prism at starting time (2008/09/03 @ 17:20, in the Figure 172),

using the geographic co-ordinates (e.g. N, E, RL) of the prism.

2. For each trend data point, calculate the distance from the radar to the prism (as above) at that time

and subtract the value from step 1.

Note: This method means that both the distance and angular measurements of the prism will be used, so

the results may be more noisy than using just the change in distance towards the total station. The method

was chosen as it gives an estimate of movement in the direction of the radar, and thus allows for a

meaningful comparison to the radar’s movement data.





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Figure 172: Prism movement trends

Also note that there is a label (turquoise colour) just below the synthetic map time. This shows the name,

distance from the radar, and the mine geo-referenced co-ordinates of the currently selected prism.

The time slider control is used to set the times for the trend plot display, just like for the synthetic map of a

scan region. To set custom start and end times for the prisms, double-click the time slider control to open the

Time Manager dialog (e.g. to see prism history further back than the beginning of the scan region data).

Change the Earliest Prism Scan Time and Latest Prism Scan Time fields, as required.


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Figure 173: Prism time manager

2.11 System Event Log

The HMI has a system event log (ToolsEvent Log…System) which displays selected events from both the

HMI and the SCS.

At start-up, the last 50 events are loaded. More events can be requested by the user if a longer history is

required. The maximum limit is the last 10 000 events.





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Figure 174: System event log

The display will automatically scroll to the latest event (at the bottom) after loading. The font colour alternates

between brown and blue to make it easier to differentiate between consecutive events. (Some events span

across multiple lines.)

Note: Reports of triggered alarms will refer to URGENT and GEOTECH alarms. “Urgent” is just another

name for “Critical”.

The local HMI’s event log, which only displays local HMI events, is available under the Local tab. The Clear

button affects both logs, but the Request Events button is only applicable to the System tab.


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Figure 175: Local event log

2.12 Option Menu

Other than the option tabs that were already discussed, there are also the following tabs:

2.12.1 Radar Connections

Figure 176: Radar Connection Setup

Set the radar IP connection. Note: do not change the periodic Message Settings these are default.





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2.12.2 Maintenance

Figure 177: Maintenance Advance tab.

If needed, the limits can be changed as follows:

1. Select the ToolsOptions…Maintenance (see 2.12.2).

2. Change the residuals limits, as desired. Note: the changes will only apply to the currently

connected radar (this is displayed at the bottom of the System Parameters group box).

3. Click OK. Note: this new setting will apply to all site databases from now on.

In some cases, the user may want to stay in repetitive scan mode, regardless of what the radar thinks about

the refractivity. WS refractivity rate: If enabled, then the radar will revert to stabilisation scan mode when the

rate of change of refractivity is too fast. The exact rate threshold is a factory setting.

KS refractivity delta: If enabled, then revert to stabilisation scan mode if the change in refractivity

estimated from the known stable region is too big. After each scan of the known stable area, a new

refractivity estimate is calculated. A large change indicates that either the refractivity is changing

very quickly, or there was an error in the estimate. Either way, the result is unreliable, and the radar

should revert to stabilisation scan mode, so that a new estimate can be obtained.


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WS/KS refractivity delta: If enabled, then revert to stabilisation scan mode if the difference between

the weather station refractivity and the known stable region refractivity is too large. While the

weather station and known stable estimates will invariably be different, they should remain relatively

close. In other words, if they differ significantly, then the current refractivity estimate may be

unreliable. Again, the exact threshold is a factory setting.

On system restart: If enabled, then the radar will revert to stabilisation scan mode when restarted (in

actual fact if the SCS restarted). Note: in this case each region will only be in stabilisation scan

mode for one scan (the minimum time of 10 minutes does not apply).

2.12.3 Serial Ports

2.12.3.1 Total Station

To set the Communication port for the Total Station Note: these settings are default do not change them..

2.12.3.2 GPS

No longer Used.

2.12.3.3 MSR Sentinel

Click to test connection

Figure 178: Sentinel setup (HMI).

The Sentinel device’s connection settings can be configured under ToolsOptions…Serial PortsSentinel

(see 2.12.3.3).

Default settings are 9600 baud rate, 8 data bits, 1 stop bit, no parity).





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Note: the COM port can be overridden with the command line option: SentinelComPort. For example,

to force COM99, you could use msrhmi.exe SentinelComPort=COM99. This feature is useful when

there are multiple Sentinels connected to a single computer. For this, you would have multiple icons

launching the HMI for different Sentinels.

The alarm can be tested on the Alerts tab of the Options dialog, the triggering of alerts is also configured on

that tab.

2.12.4 Performance

Figure 179: Performance Setup

Horizontal and Vertical point spacing: cannot be changed, when data base is loaded.

Scan rate: can be changed but is not recommended.

Known stable update period: can be changed.

2.12.5 Conventions


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Figure 180: The conventions tab on the option page.

On the conventions tab the movement units for the relative range, average velocity and average delta can be

specified. A scale factor can also be specified if the custom setting is selected. See Figure 180.

Note: The user convention settings apply to all HMI’s.

The scale factor, units and text for the X/Y/Z co-ordinate system can also be customized on the conventions

tab.

The Co-ordinate units (X, Y, Z or N, E, RL) will normally be the same as the Absolute range units, so the

Copy to co-ords button can be used to replicate the values.

Ensure that the DTM file and geo-referencing position measurements use the same units as specified for the

X, Y and Z co-ordinates. Otherwise the DTM will not match up in size or position with the synthetic maps.





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These settings are not only used for display purposes, but also internally by the software. For this reason it is

important to check the alarm threshold values after changing the Movement units. Changing from Metric

units (mm) to Imperial units (in), for instance, will divide the relevant alarm thresholds by 25.4 (because 1

inch = 25.4 millimetres).

Figure 181: Using Imperial units.


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2.12.6 Display

Figure 182: The display tab on the option page.

Here the user can set start-up preferences for various display options, like colours, transparency and feature

settings. See Figure 182. These default values will be used the next time the software is started. The

following start-up options can be set:

o Default colour and line width for creating new features.

o Transparency percentage of synthetic map.

o Black/White background

o Display region outlines

o Display the radar position and direction line

o Panning control buttons

o Chart background colour

o Synthetic Map texture colour

o Trend plots settings

o Inverse average velocity see Section 2.8.2.5





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2.12.7 DTM

Figure 183: DTM Tab on the Option Page.

The default start-up options for the DTM files can be specified in the DTM tab. If the DTM must be loaded on

Start-up, it must be selected here. It is also possible to specify multiple DTM files that must be loaded on

start-up. The surface colour, line width and transparency can also be specified in this tab.


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2.12.8 User Files

Figure 184: User Files Tab on the Option Page.

The options can be changed in the HMI’s ToolsOptions…User Files (see 2.12.8). You must restart the

HMI for changes to take effect.

The colour bars for the synthetic map are now user configurable. For each colouring mode (relative range,

average velocity, velocity delta and cumulative flags) the user can specify a colour map file to use. The

colour map file is a simple text file which relates the red, green and blue colour values to a percentage (top of

the bar is 0%, bottom is 100%). Each line in the file is comma-separated: Percentage, Red, Green, Blue. A

number of predefined files are provided. Below are a few examples:





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Figure 185: Colour bar options.

1. Default colouring: colours_default.txt

2. Inverted default colouring: inverted_default.txt

3. Distinct bands: colours_distinct.txt

4. Inverted distinct bands: inverted_distinct.txt

5. Default asymmetrical colouring: colours_default_asym.txt

6. Inverted default asymmetrical colouring: colours_default_asym.txt

7. Orange limits: colours_orange_limits.txt

The files can be found in the HMI’s installation folder. The default installation will normally be

C:\Program Files\RRS\MSR\hmi\colourmaps.


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2.12.9 Alerts

Figure 186: Alerts Tab on the Option Page.

Notification options are on the tab called Alerts. The administrator may choose how to be notified of each

alert type (pop-up message, e-mail, or both). Pop-ups are prioritised by severity, so yellow or blue messages

will only display if all red messages have been cleared. The notification message for each alert can be tested

by clicking the ‘Test on’/’Test off’ button – just make sure to click the Apply button first.

When alerts are tested, ensure that all other users logged into an HMI of the radar are notified first. Testing

these alarm messages will trigger an alarm on all HMIs so they should be aware that it is a test.

Select the specific alarm (1), Note: Each alarm must be set separately.

Select if there must be pop up’s and or E-Mails (2), if E-Mails are to be sent insert the E-Mail

address (3).

Notification delay the time period (in minutes) that the alarm must be active before a notification is

generated (4).





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Alert repeat interval (minutes) is the time after first notification that a repeat alert will be generated

(i.e. pop-up will re-appear, e-mails resent, etc). Note: As long as the alarm is active the pop ups will

re-appear (5).

Edit message, to edit the pop up message to a mine specific comment (in any language).

Modular dispatch (8) By exporting the current MSR alert status to a CSV file on the network, MSR

alerts can also notify the DISPATCH operator as exceptions. Note: this functionality may not be

available on all installations or versions of Modular DISPATCH.

Sentinel device, enable or disable the sentinel and test Note: the sentinel must be connected (Com

port settings correctly set) and on (9) (see section 2.12.3.3).

After completion Apply the changes.

2.12.9.1 Critical stability alarm

When the Critical stability alarm has been reached how the alarm should be transmitted through to the user.

2.12.9.2 Geotechnical stability alarm

When the Geo technical stability alarm has been reached how the alarm should be transmitted through to the

user.

2.12.9.3 Fault mode

Any fault on the system

2.12.9.4 System warning

How system warnings should be transmitted to the user.

2.12.9.5 Fuel low alert

With the fuel low alert, personnel can be alerted of the fuel status before escalating to a Power Supply Unit

Warning. Only after the fuel low status continues for the pre-set time (default 1 hour), will a Power Supply

Unit Warning be generated. A fuel low warning will be replaced with a Power Supply Unit warning when it is

triggered as Power Supply has higher Priority. Note: the pre-set time can only be changed by maintenance

technicians.

2.12.9.6 Stabilisation mode

When the system goes in Stabilisation mode.

2.12.9.7 Comms lost

When the computer has lost communications to the radar.

2.12.9.8 Synth map not scanned

When the Synth map has not been updated for a period (notification delay) a warning will appear.

2.12.9.9 Acknowledging Alerts Pop-ups

If the user would prefer the Alert Pop-ups, this can be enabled\disabled in the HMI open

ToolsOptionsAlertsRequired Comment. The Pop-up window will not be able to close until the alert is

acknowledged. The acknowledge button can be found at the bottom right as seen in Figure 187. The

Acknowledgements can be viewed in the event log. ToolsEvent Log: This can be viewed in Figure 188.


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Figure 187: Acknowledge Alert Pop-ups.

Figure 188: Event Logs with Acknowledged Alert Pop-ups.

2.12.9.10 User Triggered alerts

User triggered alerts are simple. However, it is important to remember to disable the testing when complete.

User triggered alerts are clearly visible with a “T” in Alerts tab. Only administrators can run these tests. If the

alerts are left active, they will interfere with the running of the MSR.

To test an alert:

1. Open ToolsOptionsAlerts

2. Click on Alert to be triggered





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3. Click “Turn test ON”

4. A “T” should display next to the Alert as seen in Figure 189.

5. Repeat for other alerts.

To deactivate an alert:

1. Open ToolsOptionsAlerts

2. Click on Alert to be deactivated

3. Click “Turn test OFF”

4. A “T” should display next to the Alert as seen in Figure 189.

5. Confirm all the user triggered alerts are deactivated when testing is complete.

Figure 189: User Triggered Alerts.


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2.12.10 DB Naming

Figure 190: DB Naming options dialog box.

The software can generate a default name for the database name, to save time when creating many new site

databases, and allow for consistent site naming. These settings can be found under ToolsOptions…DB

Naming see Figure 190.

The database name can be composed of the mine name, the radar name, the current date and the current

time.

Moving the items up or down in the list changes the order in which they appear in the name (for

instance to display the date in dd-mm-yyyy format instead of yyyy-mm-dd).

A grey checkbox means that the field is displayed without the separator character (for instance to

display the date in yyyymmdd format instead of yyyy-mm-dd).

Note: the length of the site name is limited to 63 characters. Click the Create New button to create the site.

After creation, the new site will automatically be loaded. If the load fails, try loading it explicitly, as per the

Load Database dialog in Figure 53.

Normally new site databases have to be geo-referenced after creation. This is an unnecessary effort if the

MSR trailer has not moved at all. Simply tick the Trailer has not moved – keep current geo-referenced

position checkbox, and the new site database will have the same geo-referenced position as the current site.





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2.12.11 Add-ons

Figure 191: Add-ons Setup

This is the licensing page for the system Note: the ATS Integration is free however the MSR200, MSR 300

and Rapid Align™ (see Section 2.5.3.4) require purchase of the respective licence.


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2.12.12 Devices

2.12.12.1 Sedna

Figure 192: Sedna device setup

The Sedna system allows for 6 servers – each controlling 1 or more devices. Test buttons are available to

test the connection to the Sedna device before the changes are approved. A pop-up message will indicate if

a TCP/IP connection could be established or not. If the TCP/IP connection fails, check the IP address and

port number are correct.





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2.12.12.2 Clonsa

With the Clonsa system, each device has to be specified separately. This includes the IP, an ID number (0-

99), a name and a protocol.

The URL (web address) of the device controller page must also be specified. This page will be used by the

HMI to relay instructions to the individual devices.

Figure 193: Clonsa device setup

The Clonsa system allows for up to 6 individual devices. Note: the total combined number of Sedna and

Clonsa devices is limited to 6.


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2.12.12.3 MP² (Multi-Purpose Mining Platform)

Each MSR can interface with up to 4 MP² devices. To configure the MP² go to

ToolsOptionsDevicesMP² as seen in Figure 194. The Devices need to be ticked enabled for the

devices to work. The IP address and a description for the trailer also needs to be added. The description

allows the trailers to be easily identified.

Figure 194: MP² device setup

The MP² Tailers can be monitored on the System Information page in the HMI. The Status is only visible if

atleast one MP² Trailer is enabled. The overall status should show OK as seen in Figure 195.

Figure 195: MP² overall status

The operators manual (5810-MP-1000) for the MP² can be reqeusted from Reutech Mining.





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2.12.13 ATS Integration

Figure 196: ATS integration options


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Database Type: Only GeoMoS and Quickslope ATS databases are fully supported at this time, so there is.

Other systems may work if the database structure is based on GeoMoS. Note: Quickslope 5 with a MS

SQL Server database will work. The HMI software has imited integration with Trimble 4D databases.

Currently only the list of prisms are available. The prisms will be visible on the synthetic map, and in the tree

view. The movement colouring and trend plot functionality will be added in due course.

In order to use Trimble 4D, go to ToolsOptions… and select the ATS Integration tab. In the Database

Type dropdown, select T4D.

Server Name: This is the network name or IP of the SQL Server database. If there is more than one

database instance running on that machine, you also have to specify the instance name (e.g.

“192.168.0.14\MSSQL02”). If the database is running on the same computer as the HMI, you can just use

“localhost” instead of the computer name or IP.

Port: The port number used by the SQL Server database. The default is 1433.

Database Name: This is the name of the database inside SQL Server. The default is “GeoMoS Database”.

This can be changed by a qualified technician.

Authentication Type: The HMI has the ability to connect to the database using Windows authentication. In

this case, the username and password fields are not required.

Username and Password: These are the login details for the above database. Just read-only access is

required, and it is highly recommended that the account used does not grant write access.

Time Offset: Leave this at zero unless the radar and the prism database work on different time zones. The

offset is entered in minutes, so if the radar is 2 hours ahead of the prism measurements, the time offset value

would be set to -120.

Test Connection: This button will create a temporary connection using the above inputs. If an error

message appears, double-check the settings, ensure that the database is online and that the specified user

has permissions on it.

Also ensure that the ATS Integration box is checked under ToolsOptions…Add-ons (see 2.12.11).





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2.13 EXTERNAL CONNECTIONS

2.13.1 Data Communications

Remote communication with the radar is provided via WiFi transceivers, configured to use the 802.11b

protocol. The link requires clear line-of-sight for proper operation. A range of 2-5km is typically achievable

for a single hop. Repeaters can be added for longer distances. The default configuration is for the MSRs to

be configured as access points. Multiple repeaters can be used, but the performance will decrease. User

can also replace the standard equipment with something that works with their mine’s existing infrastructure, if

necessary.

A typical set up would have the radar in a pit. Its radio would communicate with a repeater on the edge of

the pit (in line of site). The second hop would then be from the repeater to a permanently installed access

point at the pit offices (also requiring line of site).

802.11b allocates up to 14 channels (less, in some regions). The typical set up described above would

require one of these channels. The number of available channels needs to be considered when integrating

into a mine that already has 802.11b in use. It is possible to use more channels, for increased performance.

Alternatively, other radio’s such as 5,8GHz 802.11a can be ordered.

Up to four HMIs can be connected to the MSR simultaneously - a local instance on the radar, and three

remote links.

2.13.2 User Configurable Relays

MSR units are fitted with 3 relays that can be configured by the user. The purpose of these relays is:

Allow the user to link the MSR to a local alarm light display.

Allow the user to connect the MSR to PLC type IO units for remote access to alarm signals.

2.13.2.1 Electrical Connection

The relays are Phoenix Contact spring cage SPDT relays. Each one provides a single changeover contact

rated at 250VAC, 3A. They are situated on the lower DIN rail in the SDP enclosure. The relays are labelled

K 3.1, K3.2 and K3.3. The connection is shown in the picture below. Only suitably qualified technicians

should make connections to these relays.


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Figure 197: User relay schematic.

2.13.2.2 Software Configuration

Currently the relays cannot be configured directly from the HMI. Only qualified MSR technicians can change

these settings using factory software.





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2.14 MSR QUICK REFERENCE GUIDE

Table 13: MSR Quick Reference Guide

MSR Quick Reference Guide

No. Action Notes Page ref

Pre Checks

1 Check Fuel Ensure that the fuel tank is full.

2 Check Generator Oil Ensure that there is enough Oil in the generator and that there are NO oil leaks present on the generator.

3 Check Trailer Lights Check that the trailer cables are in a good working condition.

4 Check Trailer Brake Check the brake line (cables etc) are in good working order.

5 Wheels Check that the wheels are correctly inflated and the wheels are in a good condition.

Deployment (Section 2)

1 APU Stowing Ensure that the antenna is locked in position 53

2 Prepare for transportation 47

3 Handbrake operation 48

4 Jockey Wheel operation 50

5 Hook MSR to vehicle 51

System Operation (Section 3)

1 Deployment Decouple the MSR from Vehicle 56

2 Leveling Level the MSR 57

3 Activating MSR Switch ON MSR via Control Panel 61

4 Log in 64

5 Positioner Angle Check 68

6 System Information Check for ANY errors (Alarms) and rectify 75

7 Physical Setup Geo-Reference system 91

8 Stability Scan Setup Create Scan Regions 112

9 Alarm Settings Set Alarms 122


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Off-Trailer Total Station Set-up

1 Stop Generator if Running Push "Generator Stop" Button on Control Panel

IF PSU selector switch is on "GENERATOR" move to "OFF" or "EXTERNAL"

Attach the two prisms to electronics enclosure roof. 1 - Wifi side. 2 - E-Stop side

2 Check Systems Levelling

3 Tripod Place tripod within 20m off MSR.

Attach and Level the tribach on the tripod.

Attach total station to tribach, and attach cable

Switch on Total Station

Adjust tribach until electronic level ok (FNC key + F1)

Start surveying program (Menu + F1 + F1)

Set Job F1, NEW (F1), INPUT (F1), -make name- then press (red return button), OK (F4)

4 Start the Surveying - Start (F4)

- the TS displays the last recorded job - PtID -> rename it

- Input (F1), New Ptid (red Return)

Sight the two Prisms on the Electronics Enclosure. ALL (to measure)

5 For Geo-referencing Record the angles to all geo-reference beacons. REC (to measure)

HMI Import Data from Total Station to HMI

Assign Prism points and add beacons to geo-reference set-up page

Enter geo-graphical co-ordinates for beacons.

Apply changes - check that residuals are ok.

6 Record desired points (REC) For regions, features, etc. Start T.L. T.R. B.R. B.L (Clockwise)

May have to press(F4) to get to REC on bottom menu

7 On HMI computer On Radar

8 DTM import If Applicable and can be done later on office computer

9 Create Scan Regions SETUP -> SCAN REGIONS

Normal, Known Stable, High Threat, Exclusion, etc. (import data from total station)

10 Create Features If applicable, from total station import dialog

11 Set up alarms Average for whole region or average for MxN region

Apply changes

12 Remove total station Disconnect cable (cap connectors), switch off, remove TS.

Remove Prisms

Set PSU selector switch back to "GENERATOR" (if not using external power)

Close ladder door

13 Activate Scan Stability (continuous), Survey (single scan)

14 Monitor Movement Check System Information

15 Download Data Daily (Remotely/onboard)





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Moving/Storage

1 Stop Scanning

2 Exit HMI (Wait for "System Halted") System Halted - displayed on computer monitor

3 Switch off Radar (PSU control panel)

4 Press Emergency Stop Top of Radar

5 APU Stowing Ensure that the antenna is locked in position 53

6 Prepare for transportation 47

7 Handbrake operation 48

8 Jockey Wheel operation 50

9 Hook MSR to vehicle 51

Weekly Checks 1 Diesel fuel level Check Fuel in tank

2 Oil Level in Generator PSU Generator dipstick

3 Fuel or Oil leaks Check for leaks around the Generator and fuel pipes


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2.15 FAULT FINDING

The fault finding guide is divided into sections according to subsystem.

2.15.1 Power System

Table 14: Fault Finding Power System

Symptom First Check Second Checks

System does not

start when power

system Switch is

turned on

Check if the green power on light on

the power supply control panel

illuminates.

If Not:

Open the lid of the power system

enclosure. Verify that the 24V fuse set

in the fused isolator F1.1 is correctly

inserted and the fuses are not blown.

Verify that the batteries are sufficiently

charged. Battery voltage should be

greater than 20V. If lower than this the

system should be plugged into an

external AC supply to recharge the

batteries.

Verify that the ON/OFF/CHARGE

switch on the inverter/charger (blue

box) is in the ON position.

If YES, but system still does not start

Check that the isolators at the side of

all the electrical enclosures are closed.

Check that all circuit breakers inside

the electrical panels are closed





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The system runs off

battery power, but

the generator fails to

start when the

batteries get low.

Does the starter motor crank when

the threshold level is reached?

Crank the engine (decompression

lever open and use crank leaver) so

that is not on top dead centre

position. Start with key.

If No:

Check that the selector switch is in the

generator position.

Check the 12V starter battery of the

generator. The battery voltage should

be greater than 11V.

If yes, but the engine still does not run:

Check there is fuel in the tank.

Check the fuel shut off valve is in the

open position

The generator starts

when the main

battery gets low, but

does not stop.

Does the generator stop if the red

stop button on the control panel is

pressed?

If No:

Check that the generator starter battery

is correctly charged.

If yes:

Check that the batteries are actually

charging while the generator runs. This

can be done by verifying that the yellow

LED on the front of the inverter lights

up while the generator runs. If this does

not happen, then the voltage or

frequency from the generator is out of

spec and must be adjusted.


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The generator starts

and runs for several

hours, but restarts

almost immediately

after stopping

Check if the battery charger is

charging the batteries to > 27.4

V during the charge cycle. Check

that the batteries are actually

charging while the generator

runs. This can be done by

verifying that the yellow LED on

the front of the inverter lights up

while the generator runs.

If No:

The generator voltage or frequency is

out of the specified range and must be

adjusted.

The main storage batteries may need

to be replaced





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2.15.2 System Data Processor

Table 15: Fault Finding SDP


The HMI display

remains blank

Check that the main isolator to the

SDP enclosure is switched on, that

the circuit breaker Q1.1 in the SDP

enclosure is switched on and the

switch on the front of the System

processor is in the on position.

If all switches are on:

Check if the lights on the front of the

system processor are green. If not

check the fuse that is housed next to

the switch.

If all the lights are on, check the

connections and power to the display.

The HMI display

operates normally,

but there are no

peaks found in the

AR trace.

Check all connections between the

TRX and the antenna are plugged in

correctly

If No:

Wipe any dirt off the connector

surfaces. Connect the connectors and

tighten with the torque spanner.

If Yes

See the section relating to the TRX

The HMI display

operates normally,

but the positioner

shows errors or

cannot be controlled

Check that the power to the Drives

enclosure is switched on, and the

emergency stop switch is not

pressed (some systems have a dish

stop ensure that this is not

depressed).

If these switches are correctly set:

Open the door of the drives enclosure

and check that all connectors on the

two drives are correctly plugged in.

Check that the two drives are

displaying the normal messages (either

P03 or E03). F and a fault number

indicate faults. Contact Reutech

Support.

Angle Offset check not done.

Shutdown, switch off power, restart

system.


PART 2




4 February, 2013


Some or all of the

temperature sensors

show errors.

Check that all of the temperature

sensors are plugged into the

connectors below the System

processor rack.

If No

Plug all connectors in securely

If Yes

Check that USB to 1 wire converter (blue

moulded device) is securely plugged in to

the USB socket on the system processor.

The HMI shows that

the SDP enclosure

reaches

temperatures over

55 degrees C.

While the system is running adjust

the thermostat for the Peltier cooler

down ward. Check to see that the

thermostat switches on and the

Peltier cooler starts running.

If YES:

Check that both the fans of the cooler

are running (there is one inside the

enclosure and one outside the

enclosure). If not either the fan or

Peltier PSU may need replacement

Check that the inside of the Peltier

cooler gets cool and the outside gets

warm. If not, then the Peltier cooler

may need to be replaced.

If NO

The thermostat or Peltier PSU may

need to be replaced.





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2.15.3 Positioner


Positioner shows a

fault indication on

the HMI

Check that the power to the Drives

enclosure is switched on, that the E-

Stop is released.

If No:

Switch on power and /or release the E-

stop. If the power to the drives panel

was switched off, it will be necessary to

shutdown and restart the software.

If Yes:

Is there a DSP fault too? If yes,

shutdown system and restart (problem

is communication with DSP, not

positioner).

Check the fuses in the 24V fuse

terminals in the Drives panel.

Positioner shows no

fault, but does not

move.

Check that the stow locking pin has

been released.

If Yes

Check that the positioner has not

reached an end stop or software

movement limit

See if the positioner can be moved by

hand. If so, the fault probably lies within

the positioner. If not, the problem is

most likely within the SDP.

If No:

Disable the positioner by pressing the

E-Stop. Release the stow lock and

raise the antenna slightly. Release the

E-stop button and retry


PART 2




4 February, 2013

2.15.4 TRX


Both the BIT and

oven temperature

flags from the TRX

show as failures.

Check the cable between the TRX

and the SDP is securely plugged in.

If Yes:

In the SDP check the +15 and -15V

power supplies are functioning.

In the SDP, Check the fuses on the +15

and -15V fuse terminals.

In the Drives panel, check that the

fuses in the 24V fuse terminal are not

blown.

If No

Shutdown the system and plug in the

cable

The oven

temperature flag

shows as a failure

Wait a few minutes and see if the

oven warms up

If No:

Return the TRX to Reutech Radar

Systems

The BIT flag shows

as a failure, no other

flags or errors seen.

Return the TRX to RRS

The BIT and oven

temperature flags

are shown as ok, but

there is no return

signal in the AR

trace

Check if the cable to the antenna are

connected properly.

If No,

Attach the cables with the torque

spanner provided. Note: Do not over

tighten.

If Yes

Refer to the SDP fault finding notes





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2.16 APPENDIX

2.16.1 Time Window Mathematical description

Consider a data set with N+1 scans, the first measurement at time t0, the last measurement at time tN. Let

the total movement away from the radar (change in relative range) measured for a point, after scan i be si.

See Figure 198:.

Figure 198: Change in relative range versus time.

The user specifies a reference time tref at which point the movement will be zero, and finally the

measurement of interest is at a time ti so that t0 ≤ tref ≤ ti ≤ tend. Then the change in relative range since the

reference time, Δsi,ref can then be calculated as Δsi,ref = si - sref. This is depicted in Figure 199.


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4 February, 2013

Figure 199: Change in relative range since reference time.

In order to calculate velocity and velocity delta (change in velocity), movement over a time period must be

considered. The user has two options: either use all available data, or specify a time window.

2.16.1.1 Velocity calculation using all data

This is the simplest case (see Figure 200). Determine the available data up until the time of interest time,

ΔTavailable,i = ti – tref. Then the velocity vvel,all,i is defined as follows:

elsewhere

T

s

T

v

iavailable

refi

iavailable

iallvel ,

0,0

,

,

,

,,

In other words, it is simply the slope of the straight line connecting the movement at the reference time and

at the time of interest.





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Figure 200: Average Velocity calculation using all data up to time of interest.

The velocity delta avel,all,i is the difference in velocity over two time periods. As vvel,all,i is calculated using all

the data in this case, there is no other time period to compare to, and thus the velocity delta cannot be

calculated. Thus, let avel,all,i = 0.

2.16.1.2 Velocity calculation using a time window

When using a time window, the calculation is slightly more complicated, but still relies on the slope of a

straight line between two data points. The user specifies the desired time window length ΔTwin,spec. The

available data up until the time of interest time, ΔTavailable,i, is calculated as above. The available time may

not always be long enough, and the time window period used gradually grows, as follows:

specwiniavailablespecwin

specwiniavailableiavailable

iusedwin TTT

TTTT

,,,

,,,

,, 2,

2,5.0.

The requirement for twice the available data, e.g. 24h of data for a 12h window, is because of the velocity

delta calculation. The current average velocity is calculated from the latest 12h of data, while the velocity in

the 12h prior to that is then subtracted from the current velocity to get the velocity delta. This will become

clearer as the mathematical explanation continues.

Next, find the times when the two window periods start: twinT = ti - ΔTwin,used,i, and twin2T = ti - 2ΔTwin,used,i. In the

ideal case, these two times will fall exactly on times that data was scanned. If not, then ΔTwin,used,i will be

adjusted slightly to get valid data. The corresponding movement at those times, si,winT and si,win2T can then be

used to calculated the average windowed velocity vvel,win,i as:


PART 2




4 February, 2013

elsewhere

T

ss

T

v

iusedwin

tii

iusedwin

iwinvel winT ,

0,0

,

,

,

,,

Again, it is simply the slope of the straight line connecting two data points, however, in the windowed case

the time period will be shorter. The time period will also grow as more data becomes available, until

ΔTavailable,i ≥ 2ΔTwin,spec, as discussed above.

Figure 201: Calculation of average velocities for the current and previous window periods.

The velocity delta avel,win,i can then easily be calculated by differencing the velocities in two consecutive

periods as follows:

elsewhere

T

ssv

T

a

iusedwin

titi

iwinvel

iusedwin

iwinvel TwinwinT ,

0,0

,

,,

,,

,

,, 2

As can be seen from the equation above, the velocity delta is not a second derivative of the relative range,

since the change in velocity is not divided by a time period. Thus the velocity delta is not, strictly speaking,

an acceleration. However, it is a change in velocity, and with a fixed time period, as is generally the case, it

is proportional to the acceleration. In practice, the differencing of the velocities, like differentiation, results in

a more noisy measure than the undifferentiated values. This end result of this is that wider alarm thresholds

would normally be needed on velocity delta than on average velocity.





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5840-SL-3000 V02.00 HB PART 3



4 February, 2013

PART 3:

MODIFICATION INFORMATION

PART 3 5840-SL-3000 V02.00 HB



of 223

Part 3 is reserved for any future upgrade or modification documents.

5840-sl-300f0 v03.00 hb rev1_full

Documents

division of reutech

property of reutech

reutech radar systems

title page

prelim revision

page v

reference source

restrictive legend