Joshua Marshall – Version 3Joshua Marshall is an Associate Professor and Director of the Mining Systems Laboratory.  He joined the Faculty of Engineering and Applied Science at Queen’s University in May 2010.  He is also an Adjunct Research Professor in the Faculty of Engineering and Design at Carleton University.  From August 2016 to August 2017 he was an International Visiting Professor at the Centre for Applied Autonomous Sensor Systems (AASS) in the School of Science and Technology at Örebro University, Sweden.  He received the B.Sc.(Hons.) degree in mining engineering (mechanical option) and the M.Sc.(Eng.) degree in mechanical engineering, both from Queen’s University at Kingston, Ontario.  He received the Ph.D. degree in electrical and computer engineering, with a specialty in systems control, from the University of Toronto, in Toronto, Ontario.

Over the course of his career, Dr. Marshall has worked on equipment automation and field robotics-related R&D projects together with several companies, agencies, and institutes, including Barrick Gold Corporation, Atlas Copco’s Rocktec Automation, Peck Tech Consulting Ltd., Cameco Corporation, MDA Space Missions, Phelps Dodge, the Canadian Space Agency (CSA), the European Space Agency (ESA), Sandvik Mining and Construction, and Inco’s Mines Research Department.  Prior to joining Queen’s, Dr. Marshall was a tenure-track Assistant Professor of mechanical and aerospace engineering at Carleton University in Ottawa, Ontario and an R&D/Control Systems Engineer on both space and terrestrial robotics projects at MacDonald, Dettwiler, and Associates (MDA), Inc. in Brampton, Ontario.  He continues to serve as a consultant to industry.  Dr. Marshall is a Member of the CIM, a Senior Member of the IEEE, and is a licensed Professional Engineer in the province of Ontario. He currently lives in Kingston, Canada with his wife Jillian and children Owen, Maeve, and Finn.

Contact

c/o The Robert M Buchan Department of Mining
Goodwin Hall, Room 354
25 Union Street, Kingston, ON K7L 3N6 Canada
joshua.marshall@queensu.ca
+1 613 533-2921

External Links

Teaching

Queen’s University

MINE 202 Instrumentation and Computer Applications in Mining (fall 2010, 2011, 2012, 2013, 2017)
MINE 472 Mining Systems, Automation, and Control (winter 2016, 2017)
MINE 471 Mine-Mechanical Design Project (winter 2012, fall-winter 2012-13, winters 2014, 2015, 2016)
MINE 853 Mining Robotics (winter 2012, 2013, 2014. 2015, 2016)
MINE 459 Reliability, Maintenance, and Risk Assessment (fall 2014, 2015)
MINE 201 Introduction to Mining and Mineral Processing (fall 2011, 2012, 2013, 2014, 2015)
MINE 202 Instrumentation and Computer Applications in Mining (fall 2010, 2011, 2012, 2013)
APSC 200 Engineering Design and Practice II (fall 2011, 2012, 2013)
MINE 852 Mine Mechanization and Automation (winter 2011)

Carleton University

MECH 5504 Guidance, Navigation, and Control (winter 2008, 2009, 2010)
AERO 4907 S-CO2 Gas Turbine Design Project (2008-2010)
ECOR 1010 Introduction to Engineering (fall 2008, 2009)
MAAE 4500 Feedback Control Systems (fall 2008)
AERO 4907 NORSAT Microsatellite Design Project (2007-2008)

Publications

Journal Articles

R. Hewitt, E. Boukas, M. Azkarate, M. Pagnamenta, J. A. Marshall, A. Gasteratos, G. Visentin.  The Katwijk beach planetary rover dataset.  To appear in the International Journal of Robotics Research.  Accepted on August 14, 2017.

C. Watson and J. A. Marshall. Estimating underground mine ventilation friction factors from low-density 3D data acquired by a moving LiDAR.  To appear in the International Journal of Mining Science and Technology, accepted June 2, 2017.

A. A. Dobson, J. A. Marshall, and J. Larsson.  Admittance control for robotic loading: Design and experiments with a 1-tonne loader and a 14-tonne load-haul-dump machine.  Invited paper in the special issue on Field and Service Robotics of the Journal of Field Robotics, vol. 34, no. 1, pp. 123-150, January 2017.  DOI: 10.1002/rob.21654

M. J. Gallant and J. A. Marshall.  Automated rapid mapping of joint orientations with mobile LiDAR.  In the International Journal of Rock Mechanics and Mining Sciences, vol. 90, pp. 1-14, December 2016.  DOI: 10.1016/j.ijrmms.2016.09.014

M. Pasternak and J. A. Marshall. On the design and selection of vehicle coordination policies for underground mine production ramps.  To appear in International Journal of Mining Science and Technology, vol. 26, no. 5, September 2016. DOI: 10.1016/j.ijmst.2016.05.014

M. J. Gallant and J. A. Marshall.  The LiDAR Compass: Extremely lightweight heading estimation with axis maps.  In Robotics and Autonomous Systems, vol. 82, pp. 35-45, August 2016.  DOI: 10.1016/j.robot.2016.04.005

M. J. Gallant and J. A. Marshall. Two-dimensional axis mapping using LiDAR.  In IEEE Transactions on Robotics, vol. 32, no. 1, pp. 150-160, January 2016.  DOI: 10.1109/TRO.2015.2506162

C. Ingram and J. A. Marshall.  Evaluation of a ToF camera for remote surveying of underground cavities excavated by jet boring.  In Automation in Construction, vol. 49, Part B, pp. 271-282, January 2015.

D. Haviland and J. A. Marshall.  Fundamental behaviours of production traffic in underground mine haulage ramps.  In International Journal of Mining Science and Technology, vol. 25, No. 1, pp. 7-14, January 2015.  DOI: 10.1016/j.ijmst.2014.11.006

C. McKinnon and J. A. Marshall. Automatic identification of large fragments in a pile of broken rock using a time-of-flight camera.  In IEEE Transactions on Automation Science and Engineering, vol. 11, no. 3, pp. 935-942, July 2014.

M. J. Gallant, A. Ellery, and J. A. Marshall. Rover-based autonomous science by probabilistic identification and evaluation.  In Journal of Intelligent and Robotic Systems, vol. 73, no. 3-4, pp. 591-613, December 2013.

N. J. Lavigne and J. A. Marshall. A landmark-bounded method for large-scale underground mine mapping. In Journal of Field Robotics, vol. 29, no. 6, pp. 861-879, November/December 2012.

J. A. Marshall and D. Tsai. Periodic formations of multivehicle systems. In IET Control Theory & Applications, vol. 5, no. 2, pp. 389-396, March 2011.

U. Artan, J. A. Marshall, and N. J. Lavigne. Robotic mapping of underground mine passageways. In Transactions of the IMM (Part A): Mining Technology, vol. 120, no. 1, pp. 18-24, January 2011.  DOI: 10.1179/1743286311Y.0000000001

J. A. Marshall and M. E. Broucke. Symmetry invariance of multiagent formations in self-pursuitIEEE Transactions on Automatic Control, vol 3, no. 9, pp. 2022-2032, October 2008.

J. A. Marshall, T. D. Barfoot, and J. Larsson. Autonomous underground tramming for center-articulated vehicles. Invited paper in the Special Issue on Field and Service Robotics of the Journal of Field Robotics, vol. 25, no. 6-7, pp. 400-421, June-July 2008.  Related video: http://www.youtube.com/watch?v=ShBMIoQk6Wc.

J. A. Marshall, P. F. Murphy, and L. K. Daneshmend. Toward autonomous excavation: Full-scale experimentsIEEE Transactions on Automation Science and Engineering, vol. 5, no. 3, pp. 562-566, July 2008.

J. A. Marshall, T. Fung, M. E. Broucke, G. M. T. D’Eleuterio, and B. A. Francis. Experiments in multivehicle coordination. Robotics and Autonomous Systems, vol. 54, no. 3, pp. 265-275, March 2006.

J. A. Marshall, M. E. Broucke, and B. A. Francis. Pursuit formations of unicyclesAutomatica, vol. 42, no. 1, pp. 3-12, January 2006.

J. A. Marshall, M. E. Broucke, and B. A. Francis. Formations of vehicles in cyclic pursuitIEEE Transactions on Automatic Control, vol. 49, no. 11, pp. 1963-1974, November 2004.

Book Contributions

J. A. Marshall, A. Bonchis, E. M. Nebot, and S. Scheding.  Robotics in Mining. Invited Chapter 59, Part F, in the Springer Handbook of Robotics, 2nd edition, 2016.  DOI: 10.1007/978-3-319-32552-1_59

J. A. Marshall, Z. Lin, M. E. Broucke, and B. A. Francis. Pursuit strategies for autonomous agents. Invited chapter in Cooperative Control: A Post-workshop Volume: 2003 Block Island Workshop on Cooperative Control, eds. V. Kumar, N. E. Leonard, and A. S. Morse. Springer-Verlag Series: Lecture Notes in Control and Information Sciences, vol. 309, pp. 137-151, 2004.  DOI: 10.1007/978-3-540-31595-7_8

Patents and Patent Applications

R. L. Vanderbeck and J. A. Marshall. Tunnel convergence monitoring apparatus and method. US Provisional Patent Application No. 62/314,739, filed March 29, 2016.

M. J. Gallant and J. A. Marshall. Automated mobile geotechnical mapping. US Provisional Patent Application No. 62/174,371, filed June 11, 2015.

A. A. Dobson and J. A. Marshall. Autonomous loading vehicle controller. US Provisional Patent Application No. 61/931,243, filed January 24, 2014.

S. Pyke, N. J. Lavigne, J. A. Marshall, J. Peck, and A. Scott. Dead-reckoning-augmented GPS for tracked vehicles. US Patent Application No. US 20160238714 A1, filed October 21, 2014.

T. D. Barfoot, J. A. Marshall, R. Mukherji, and R. Ward. Guidance, navigation and control system for a vehicle. US Patent No. US 8090491 B2, granted January 3, 2012, and US Patent No. US 8260483 B2, granted September 4, 2012.

J. A. Marshall and T. D. Barfoot. Traffic management system for a passageway environment. US Patent No. 7756615 US B2, July 13, 2010.  European patent EP1924981B1, granted September 12, 2012.

J. A. Marshall and T. D. Barfoot. Global position and orientation estimation system for a vehicle in a passageway environment.  European Patent Application No. EP 2 450 763 A1, filed July 26, 2006.

Conference Papers (Fully-Refereed)

L. G. Dekker, J. A. Marshall, and J. Larsson.  Industrial-scale autonomous wheeled-vehicle path following by combining iterative learning control with feedback linearization.  To appear in Proceedings of the 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2017), Vancouver, BC, September 2017.

H. Fernando, J. A. Marshall, H. Ålmqvist, and J. Larsson.  Towards controlling bucket fill factor in robotic excavation by learning admittance control setpoints.  To appear in Proceedings of the 11th Conference on Field and Service Robotics (FSR 2017), Zürich, Switzerland, September 2017.

M. J. Gallant and J. A. Marshall. Automated three-dimensional axis mapping with a mobile platform. In Proceedings of the 2016 IEEE International Conference on Robotics and Automation (ICRA), Stockholm, Sweden, May 2016.  DOI: 10.1109/ICRA.2016.7487236

E. Deretey, M. T. Ahmed, J. A. Marshall, and M. Greenspan.  Visual indoor positioning using a single camera.  In Proceedings of the 6th International Conference on Indoor Positioning and Indoor Navigation (IPIN 2015), pp. 1-9, Banff, AB, October 2015.  DOI: 10.1109/IPIN.2015.7346756

R. Hewitt and J. A. Marshall. Towards intensity-augmented SLAM with LiDAR and ToF sensors. In Proceedings of the 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Hamburg, Germany, September 2015.  DOI: 10.1109/IROS.2015.7353634

A. A. Dobson, J. A. Marshall, and J. Larsson.  Admittance control for robotic loading: Underground field trials with an LHD.  In Proceedings of the 10th Conference on Field and Service Robotics (FSR 2015), Toronto, ON, June 2015.  Conference best paper award! DOI: 10.1007/978-3-319-27702-8_32

M. T. Ahmed, M. Mohamad, J. A. Marshall, and M. Greenspan.  Registration of noisy point clouds using virtual interest points.  In Proceedings of the 12th Conference on Computer and Robot Vision (CRV 2015), Halifax, NS, June 2015. Best vision paper award!  DOI: 10.1109/CRV.2015.12

C. Watson and J. A. Marshall.  Towards extracting absolute roughness from underground mine drift profile data. In Proceedings of the 37th International Symposium on the Application of Computers and Operations Research in the Mineral Industry (APCOM 2015), Fairbanks, AK, May 2015.

M. J. Gallant, J. A. Marshall, and B. K. Lynch.  Estimating the heading of a Husky mobile robot with a LiDAR compass based on direction maps.  Invited paper in Proceedings of the 2014 International Conference on Intelligent Unmanned Systems, Montreal, QC, September 2014.

C. Ingram and J. A. Marshall.  3D time-of-flight camera for surveying remote cavities mined with a jet boring system.  In Proceedings of the 30th International Symposium on Automation and Robotics in Construction and Mining, Montreal, QC, August 2013. Best paper award!

J. V. Simela, J. A. Marshall, and L. K. Daneshmend.  Automated laser scanner 2D positioning and orienting by method of triangulateration for underground mine surveying.  In Proceedings of the 30th International Symposium on Automation and Robotics in Construction and Mining, Montreal, QC, August 2013.

D. Pike, S. Givigi, J. A. Marshall, A. Taylor, and A. Beaulieu. Robust vehicle routing policies using local communications and sensing.  In Proceedings of the 2013 American Control Conference, pp. 6351-6357, Washington, DC, June 2013.

S. Radacina Rusu, J. A. Marshall, and M. J. D. Hayes. Localization in large-scale underground environments with RFID. In Proceedings of the 24th IEEE Canadian Conference on Electrical and Computer Engineering, pp. 1140-1143, Niagara Falls, ON, May 2011.

M. Gallant, J. A. Marshall, and A. Ellery. Science-influenced mobile robot guidance using Bayesian networks. In Proceedings of the 24th IEEE Canadian Conference on Electrical and Computer Engineering, pp. 1135-1139, Niagara Falls, ON, May 2011.

N. J. Lavigne, J. A. Marshall, and U. Artan. Towards underground mine drift mapping with RFID. In Proceedings of the 23rd IEEE Canadian Conference on Electrical and Computer Engineering, pp. 1-6, Calgary, AB, May 2010.

J. Larsson, J. Appelgren, J. A. Marshall, and T. D. Barfoot. Atlas Copco infrastructureless guidance system for high-speed autonomous underground tramming. In Proceedings of the 5th International Conference and Exhibition on Mass Mining (MassMin), pp. 585-594, Luleå, Sweden, June 2008.

J. A. Marshall and T. D. Barfoot. Design and field testing of an autonomous underground tramming system. In Proceedings of the 6th International Conference on Field and Service Robotics (FSR), pp. 393-402, Chamonix, France, July 2007.  DOI: 10.1007/978-3-540-75404-6_50

J. A. Marshall and M. E. Broucke. On invariance of cyclic group symmetries in multiagent formations. In Proceedings of the Joint 44th IEEE Conference on Decision and Control and European Control Conference (CDC/ECC), pp. 746-751, Seville, Spain, December 2005.

J. A. Marshall, T. Fung, M. E. Broucke, G. M. T. D’Eleuterio and B. A. Francis. Experimental validation of multi-vehicle coordination strategies. In Proceedings of the 2005 American Control Conference (ACC), pp. 1090-1095, Portland, OR, June 2005.

J. A. Marshall, M. E. Broucke, and B. A. Francis. Unicycles in cyclic pursuit. In Proceedings of the 2004 American Control Conference (ACC), pp. 5344-5349, Boston, MA, July 2004.

J. A. Marshall, M. E. Broucke, and B. A. Francis. A pursuit strategy for wheeled-vehicle formations. In Proceedings of the 42nd IEEE Conference on Decision and Control (CDC), pp. 2555-2560, Maui, HI, December 2003.

Conference Papers (Abstract-Refereed)

J. M. Mitchell and J. A. Marshall.  Design of a novel auto-rotating UAV platform for underground mine cavity surveying.  In Proceedings of the 2017 SME Annual Conference & Expo and CMA’s 119th National Western Mining Conference & Exhibition, Denver, CO, February 2017.

E. Boukas, R. A. Hewitt, M. Pagnamenta, R. Nelen, M. Azkarate, J. A. Marshall, A. Gasteratos, and G. Visentin.  HDPR: A mobile testbed for current and future rover technologies.  In Proceedings of the 14th International Symposium on Artificial Intelligence, Robotics and Automation in Space (i-SAIRAS 2016), Beijing, China, June 2016.

A. A. Dobson and J. A. Marshall. Autonomous digging: Reducing the impact of communications delay for planetary mining. Presented at the Planetary and Terrestrial Mining Sciences Symposium (PTMSS), Montreal, QC, May 2015.

D. Haviland and J. A. Marshall. Simulation of traffic flow in underground mine ramps. Presented at the CIM Conference & Exhibition, Edmonton, AB, May 2012.

S. Radacina Rusu, J. A. Marshall, and M. J. D. Hayes. Experiments in real-time map-based underground global positioning. In Proceedings of the CIM Conference & Exhibition, Montreal, QC, May 2011.

M. J. Gallant, A. Ellery, and J. A. Marshall. Exploring salience as an approach to rover-based planetary exploration. In Proceedings of the ASTRO 2010 Conference, Toronto, ON, May 2010.

J. Larsson, J. Appelgren, and J. A. Marshall. Next-generation system for unmanned LHD operation in underground mines. In Proceedings of the SME 100 Years of Mining Research Symposium, Phoenix, AZ, February 2010.

M. A. Swartz, A. Ellery, and J. A. Marshall. Towards adaptive localization for rover navigation using multilayer feedforward neural networks. In Proceedings of the ASTRO 2008 Conference, Montreal, QC, May 2008.

P. F. Murphy, J. A. Marshall, R. A. Hall, L. K. Daneshmend, and P. M. Wild. Advanced technologies for mobile underground equipment. In Proceedings of the 2002 CIM Mining Millennium Conference, Vancouver, BC, May 2002.

A. Dellah, P. M. Wild, B. W. Surgenor, and J. A. Marshall. A laboratory on the microprocessor control of a floating ping-pong ball. Poster given at the 2000 ASEE Annual Conference and Exposition. St. Louis, MO, June 2000.

Magazine Articles

J. A. Marshall. Navigating the advances in underground navigation.  Invited article in CIM Magazine, vol. 5, no. 4, pp. 20-21, June/July 2010.

Scholarly Reports for Industry

R. Hewitt and J. A. Marshall. LiDAR based navigation system prototype description and test report. Technical report issued to the European Space Agency (ESA) under contract 4000108490/13/NL/PA, January 21, 2015.

J. Mitchell, B. K. Lynch, and J. A. Marshall. Operational concepts and design requirements for an underground UAV platform. Technical report issued to Sprung-Brett RDI under NSERC Engage project EGP 462075-13, August 29, 2014.

A. A. Dobson, J. A. Marshall. Test results and recommendations from ST14 autoloading experiments at Kvarntorp. Technical report issued to Atlas Cocpo Rock Drills AB, July 10, 2014.

R. Hewitt and J. A. Marshall. State of the Art on SLAM, vehicle dynamics and feature detectors for LiDAR sensors. Technical report issued to the European Space Agency (ESA) under contract 4000108490/13/NL/PA, December 6, 2013.

T. D. Barfoot and J. A. Marshall. GN&C Strategies for Manned Lunar Mission Scenarios. Technical report issued to MacDonald, Detwiler and Associates, Inc. (MDA), Space Missions Division, July 2009.

J. A. Marshall, K. L. Moore, and L. K. Daneshmend. Scoping Study: Application of Automation Technologies for P&H’s IPCC (In-Pit Crushing and Conveying). Technical report issued to P&H Mining Equipment, Inc., April 2009.

U. Artan, N. J. Lavigne, and J. A. Marshall. Globally Consistent Mapping of Underground Environments: Concept Designs and Implementation. Technical report issued to MacDonald, Dettwiler and Associates Inc. (MDA), Space Missions, December 2008. Research funded in part by the Ontario Centres of Excellence (OCE) under project CA-IA-I50965-08.

J. Peck, J. A. Marshall, and R. A. Hall. Overview of Automation in the Mining Industry and Recommendations for Orica’s Future Technology Focus. Report issued (in cooperation with LNH Technologies) to Orica Limited, November 2008.

A. Ellery and J. A. Marshall. Traction Design Options for the Lunar Exploration Manned Utility Rover (LEMUR). Technical report issued to MacDonald, Dettwiler and Associates, Inc. (MDA), Space Missions Division, May 2008.

J. A. Marshall and A. Ellery. Scalable Autonomy Options for the Lunar Exploration Manned Utility Rover (LEMUR). Technical report issued to MacDonald, Dettwiler and Associates, Inc. (MDA), Space Missions Division, May 2008.

R. A. Hall, L. K. Daneshmend, and J. A. Marshall. Final Report: Follow-on Reliability Analysis and Production Simulation of Diamond Drills. Technical report issued to the Mines Research Department, Inco Ltd., Copper Cliff, ON, May 2000.

R. A. Hall, L. K. Daneshmend, and J. A. Marshall. Progress Report: Follow-on Reliability Analysis and Production Simulation of Diamond Drills. Technical report issued to the Mines Research Department, Inco Ltd., Copper Cliff, ON, July 1999.

Academic Theses

J. A. Marshall. Coordinated Autonomy: Pursuit Formations of Multivehicle Systems. Ph.D. Thesis, Department of Electrical and Computer Engineering, University of Toronto, Toronto, ON, September 2005 (advisors: Bruce Francis and Mireille Broucke).

J. A. Marshall. Towards Autonomous Excavation of Fragmented Rock: Experiments, Modelling, Identification and Control. M.Sc.(Eng.) Thesis, Department of Mechanical Engineering, Queen’s University, Kingston, ON, August 2001 (advisor: Laeeque Daneshmend).

J. A. Marshall. Development of an Instrumentation and Data Acquisition System for Rock and Mine Backfill Testing. B.Sc.(Hons.) Thesis, Department of Mining Engineering, Queen’s University, Kingston, ON, May 1999 (advisor: James Archibald).