Robotisation of forestry harvesting in New Zealand &amp;#x2014; An overview

Milne, Bart; Chen, Xiaoqi; Hann, C.E.; Parker, Richard

doi:10.1109/icca.2013.6564913

Cited by 7 publications

(8 citation statements)

References 18 publications

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“…Specialised steep slope harvesting machines, such as the Valmet "Snake" (Stampfer, Steinmüller 2001), have been developed to work on steeper slopes both in fully ground-based operations and to perform felling, bunching and processing to increase the productivity of cable extraction systems (Acuna et al 2011). Remotely-controlled harvesters have also been trialled to increase safety when working on steeper slopes by removing the operator from the cabin (Milne et al 2013).…”

mentioning

confidence: 99%

Time consumption and productivity of a forwarder operating on a slope in a cut-to-length harvest system in a Pinus radiata D. Don pine plantation

Strandgard¹,

Mitchell²,

Acuña³

2017

J. For. Sci.

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Strandgard M., Mitchell R., Acuna M. (2017): Time consumption and productivity of a forwarder operating on a slope in a cut-to-length harvest system in a Pinus radiata D. Don pine plantation. J. For. Sci., 63: 324-330.Time consumption and productivity of a Valmet 890.3 8 wheel forwarder were evaluated on an Australian radiata pine clearfell site with a slope of 21 to 45% (12 to 24°). Cycle time was significantly related to extraction distance. Productivity was significantly related to extraction distance and load volume. Slope did not have a significant effect on cycle time or productivity. Productivity was considerably greater than that for many published studies, which was likely to have been the result of many factors at the study site affecting load sizes and cycle times, including the large load capacity of the studied forwarder, larger mean log volumes, larger log volumes per loading stop, fewer log assortments, potentially larger forwarder grapple volume capacity, log lengths suited to efficient loading and higher travel speeds.

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mentioning

confidence: 99%

Time consumption and productivity of a forwarder operating on a slope in a cut-to-length harvest system in a Pinus radiata D. Don pine plantation

Strandgard¹,

Mitchell²,

Acuña³

2017

J. For. Sci.

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“…Future challenges are reaching LOA 2 and LOA 3, which respectively consist of an operator who choose an operating action according to the machine suggestion and in tele-operated or unmanned forest vehicles [91,[97][98][99].…”

Section: Machine Vibration Sensorsmentioning

confidence: 99%

Recent Contributions of Some Fields of the Electronics in Development of Forest Operations Technologies

et al. 2019

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In the last years, there has been a growing need to improve forest-wood chain concerning all three pillars of sustainability (economic, environmental, and social). Using electronic systems, in particular GIS, GNSS, and various kinds of sensors related to forest harvesting, is clearly one of the most powerful instruments to reach this aim. The contribution of these tools to forest operation is wide and various. One of the most important application was integrating ICT and GPS/GNSS on-board systems on modern forest machines. This allowed one to ensure multiple benefits to forest operation field. On the one hand, electronic systems, and particularly GIS, could be used to improve forest harvesting with a previous planning of the skid trails network, in order to minimize utilization impacts and risks for operators, ensuring at the same time high work productivity. Moreover, GIS developed files could also be implemented in modern forest machine GPS/GNSS systems, helping forest machines operators to move only along a designed skid trails network or making it possible to avoid restricted access areas. On the other hand, modern forest machines could be equipped with complex and accurate sensors that are able to determine, register, and share information about wood biomass quantity and quality and even undertake economic evaluation of stumpage value. Finally, the input and output of these systems and sensors could be implemented in a decision support system (DSS) ensuring the best silvicultural and operative alternative from a sustainable forest management point of view. A detailed review of the contribution of electronics in the development of forest operations is provided here.

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“…The behaviour of the Phantom Omni can be described by the general differential equations of motion and torque given in (1). The process of developing the dynamic model for the Phantom Omni is very similar to the process for the Phantom Premium haptic device as outlined in [3], [4], [9] .…”

Section: A Phantom Omni Dynamics Modelmentioning

confidence: 99%

“…It is assumed the controllers for joint angles θ 2 and θ 3 are 'stiff' enough that θ 2 and θ 3 are constant even though they are not kept physically restrained in fixed positions like the stylus angles. Equation (1) can therefore be simplified to the scalar equation (2). Since θ 2 and θ 3 are assumed constant it follows thatθ 2 ,θ 3 ,θ 2 and θ 3 are all zero.…”

Section: A Phantom Omni Dynamics Modelmentioning

confidence: 99%

“…The development of a teleoperated forestry harvester that can work on slopes up to 45 • has been started in an effort to reduce the high casualty rate of manual steep slope harvesting in New Zealand [1]. The primary goal of the project is to remove the operator from the hazardous environment while still having an equivalent "feel" for the actions of the harvesting machine.…”

Section: Introductionmentioning

confidence: 99%

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Verification of sinusoidal steady state system identification of a Phantom Omni haptic device using data driven modeling

Milne

Beelen²,

Merks³

et al. 2015

2015 6th International Conference on Automation, Robotics and Applications (ICARA)

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Haptic feedback has two important sources of dynamics: the machine being controlled and the haptic device itself. This paper concentrates on the means of identifying the dynamics of a Phantom Omni haptic feedback device. Two models are compared: a dynamic model with parameters using results from sinusoidal steady state analysis and a data driven model that uses pseudo-random binary sequences (PRBS) for identification. The overall form of the frequency and phase response is welldefined for the dynamics model but for the data driven model a spectral estimate from PRBS response data is used to determine the model order.The results in this paper show that a dynamic equation based minimal model produces accuracy as good as the data driven model. While the data driven model has more fitting accuracy the increase in accuracy is not useful for modelling the physical response as the differences occur at high frequencies where the Phantom arm is not sensitive anyway. The dynamic model is particularly useful as it gives a physical basis for the observed output and the sinusoidal steady state behaviour is useful for exposing non-linearities. Future work includes development and verification an arm inertia model that allows system parameters to be identified from response data at arbitrary arm angles.

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Robotisation of forestry harvesting in New Zealand — An overview

Cited by 7 publications

References 18 publications

Time consumption and productivity of a forwarder operating on a slope in a cut-to-length harvest system in a Pinus radiata D. Don pine plantation

Time consumption and productivity of a forwarder operating on a slope in a cut-to-length harvest system in a Pinus radiata D. Don pine plantation

Recent Contributions of Some Fields of the Electronics in Development of Forest Operations Technologies

Verification of sinusoidal steady state system identification of a Phantom Omni haptic device using data driven modeling

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