Virtual Environment-Based Teleoperation of Forestry Machines: Designing Future Interaction Methods

Westerberg, Simon; Shiriaev, Anton S.

doi:10.5898/jhri.2.3.westerberg

Cited by 24 publications

(11 citation statements)

References 30 publications

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“…In a future scenario, in which environment recognition technology can make the computer‐control system aware of targets and other objects in the environment, virtual environment‐based interaction can be useful. Such an interaction concept is presented in detail in Westerberg and Shiriaev (), with some demonstrated benefits when used as an interaction method for teleoperation of a forwarder crane.…”

Section: Human‐machine Interfacementioning

confidence: 99%

Increasing the Level of Automation in the Forestry Logging Process with Crane Trajectory Planning and Control

et al. 2014

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Working with forestry machines requires a great deal of training to be sufficiently skilled to operate forestry cranes. In view of this, it would be desirable within the forestry industry to introduce automated motions, such as those seen in robotic arms, to shorten the training time and make the work of the operator easier. Motivated by this fact, we have developed two experimental platforms for testing control systems and motionplanning algorithms in real time. They correspond to a laboratory setup and a commercial version of a hydraulic manipulator used in forwarder machines. The aim of this article is to present the results of this development by providing an overview of our trajectory-planning algorithm and motion-control method, with a subsequent view of the experimental results. For motion control, we design feedback controllers that are able to track reference trajectories based on sensor measurements. Likewise, we provide arguments to design controllers in an open-loop for machines that lack sensing devices. Relying on the tracking efficiency of these controllers, we design time-efficient reference trajectories of motions that correspond to logging tasks. To demonstrate performance, we provide an overview of extensive testing done on these machines. C 2014 Wiley Periodicals, Inc.

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Section: Human‐machine Interfacementioning

confidence: 99%

Increasing the Level of Automation in the Forestry Logging Process with Crane Trajectory Planning and Control

et al. 2014

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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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“…On the other hand, flexibility increases the difficulty of estimating the position of the boom tip, that is, the place to mount a tool. This difficulty is further increased by that forestry cranes that are usually redundant manipulators with the position of the boom tip determined by more variables than it has degrees of freedom (

x, y, z

vs. three angles of rotation and one linear displacement position) (Kalmari et al., ; Westerberg & Shiriaev, ).…”

Section: Introductionmentioning

confidence: 99%

“…Owing to the above‐mentioned challenge, the instrumentation and automation of forestry cranes has not been attempted but until recently (e.g., Cranab, ; Kalmari et al., ; Suuriniemi, ; Westerberg & Shiriaev, ). Without sensing devices, all feedback control is left to the the operator.…”

Section: Introductionmentioning

confidence: 99%

“…Hydraulic cranes are widely used in various work machines, such as excavators (e.g., Dunbabin & Corke, ; Haga, Hiroshi, & Fujishima, ; Roberts, Winstanley, & Corke, ; Stentz, Bares, Singh, & Rowe, ), loader cranes (e.g., Cheng, Oelmann, & Linnarsson, ; Hansen, Andersen, & Conrad, ; Pedersen, Andersen, & Nielsen, ), forest harvesters (e.g., Lindroos, Ringdahl, La Hera, Hohnloser, & Hellström, ), forwarders (e.g., Ortiz Morales et al., ; Westerberg & Shiriaev, ), and other forest machinery (e.g., Kalmari, Backman, & Visala, ; Kalmari, Pihlajamäki, Hyyti, Luomaranta, & Visala, ). Compared to robotic manipulators, hydraulic cranes are lightweight and flexible so that they can lift large weights compared to their own size without breaking.…”

Section: Introductionmentioning

confidence: 99%

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Forestry crane posture estimation with a two‐dimensional laser scanner

Hyyti

Lehtola

Visala

2018

Journal of Field Robotics

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Crane posture estimation is the stepping stone to forest machine automation. Here, we introduce a robust minimal perception solution, that is, one that uses minimal constraints for maximal benefits. Specifically, we introduce a robust particle‐filter‐based method to estimate and track the posture of a flexible hydraulic crane by using only low‐cost equipment, namely, a two‐dimensional (2D) laser scanner, two short magnetically attached metal tubes as targets, and an angle sensor. An important feature of our method is that it incorporates control signals for hydraulic actuators. In contrast to the previous works employing laser scanners, we do not use the full shape of the crane to estimate the crane posture, but, instead, we use only two small targets in the field of view of the laser scanner. Thus, a large share of the range data is useful for other purposes, for example, to map the surrounding environment. We test the proposed method in a challenging forest environment and show that the particle filter is able to estimate the posture of the hydraulic crane efficiently and reliably in the presence of occlusions and obstructions. During our comprehensive testing, the tip position was measured with average errors smaller than 4.3 cm whereas the absolute maximum error was 15 cm.

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Virtual Environment-Based Teleoperation of Forestry Machines: Designing Future Interaction Methods

Cited by 24 publications

References 30 publications

Increasing the Level of Automation in the Forestry Logging Process with Crane Trajectory Planning and Control

Increasing the Level of Automation in the Forestry Logging Process with Crane Trajectory Planning and Control

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

Forestry crane posture estimation with a two‐dimensional laser scanner

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