mid-term review meeting - wp3

Project SLOPE1

WP 3 – Integration of novel intelligent harvesting systems operating in mountain

areas (hardware development)

Project SLOPE

Mid-term Review2/Jul/2015

T3.1– Intelligent tree marking and tree felling/hauling

WP 3 – Complex Machine System

Brussels, July 2th, 2015

Overview


• Status: Completed (95%)• Length: 11 Months (From M6 to M17)• Involved Partners

• Leader: [CNR]• Participants: [BOKU, ITENE, TRE, MHG, GRE]

• Aim: To develop and test a tree marking system based on RFID technology for the timber supply chain

• Output: D.3.01 [M17]; D 3.02 [M17]; , D 3.06 [M25];

Mid-term Review 2/Jul/15

Task 3.1 RFID tags deployment


Task 3.1 – RFID UHF tags_1

AIM AT CONSISTENT TAG MODEL OVER THE SYSTEM

•7 MODELS OF TAGS WERE TESTED•53 TREES WERE MARKED IN SOVER WITH RFID TAGS•PLASTIC (RESIN) SCREW PRODUCER WAS CONTACTED

1) RFID tag models with hard shell, requiring a screw or rivet for application (tags 1 -4); 2) RFID tag models with soft cover, allowing gluing or stapling (tags 5-7).

N. Manufacturer and model1 Synometrix; SMLM-82002 Omni-ID; Exo 6003 Confidex; Ironside4 Confidex; Ironside Micro5 HID; Slimflex6 Smartrac; Shortdipole7 Confidex; Pino

1 2 3 4 5 6 7


Task 3.1 – RFID UHF tags_2

Cable crane simulationmain challenge for tag reading in forest operations

positive results positive influence of movement required a circular antenna tag on log side not detected

N. RFID tag model Maximum range

1 Smartrac Shortdipole 3 m (swing)2 Lab-ID UH 107/105 4 m (swing)3 Wintag Flexytag D7040S 1 m4 Lab-ID UH 423/424 1 m

1

2

3

4


Task 3.1 – RFID tag positioning


Task 3.1 – RFID tag positioning

Butt end of the felled tree isthe ideal position for the UHF RFID tag providing:

- maximum protection- effective automatic reading- simple positioning


Task 3.1 – RFID tag prototype

88 mm

30 mm

In the back of the label

Insert until hereId: 0000 0000 0000 0001

120 mm

30 mm

24 mmRFID UHF Gen2 Label.Id already written in the chip when purchased

Printed Id to visually check

Mark to indicate that the label should be introduced between the tree and the bark untis it reaches this line

Mark to indicate where to put the staple

Datamatrix code to also code the Id90 mm

RFID LABEL DESIGN FOR USE IN SLOPE PROJECT


Task 3.1 – equipment selection

R1240I – qIDISO 18000-6C/EPC C1G28 levels of RF powerRead range – up to 1.5 mBluetooth – USB interfaceIP54

R1170I – qID miniRead range – up to 0.5Bluetooth – USB interface IP54

Handheld RFID UHF tag reader


T 3.1 Intelligent felling-hauling

Galaxy Tab ActiveLarge interface (8’’, LCD)10 hours operating capacity16GB memoryAndroid 4.4Bluetooth – micro USB interfaceAntishock - IP67

Garmin GLOLarge interface (8’’, LCD)Support WAAS/EGNOS12 hours operating capacityGPS/GLONASSAccuracy 3 mBluetooth


Task 3.1 – Intelligent tree marking

Layout of the UHF RFID reader/programmer set:

1) RFID tag reader; 2) GPS receiver connected via Bluetooth 3) Tablet; 4) Cartridge of UHF RFID tags shielded; 5) Stapler; 6) Tree marking axe/stamp

- USB battery charger

Common equipment- Forest spray- axe-stamp- calliper-tape- vertex


T 3.1 Syncronization reader-database

The interface with the operator allows to locate the position on the map (and selected plots), identify single trees and the related data, and link RFID to the database.

Forest plot selection. Georeferencedposition of the operator.

Identification of scanned trees.

Visualization of related database.

Update of the database with further data and with the ID of the RFID tag applied


T 3.1 RFID testPortable reader, short range: forester, chainsaw operator

Portable reader, medium range: forester, processor

Fixed reader, long range: cable yarder, truck, sawmill

VARIABLE ValuesTag models 1 - Smartrac Shortdipole Monza 5

2 - Lab-ID UH 107Reader models CAEN R1170I qID mini reader

CAEN R1240I qIDWantennax005 + ION reader

Reading distance (a) - 0, 10, 30 cm for manual device;- 30, 100, 200, 300, 400 cm for fixed reader

Reading angle (α) 0 °, 30°, 45°, 180° (through the wood) Moisture content Fresh vs dry wood Near field of material Free space, bark (related to tag

position), wood (related to reading angle 180°)

Tag position Radial, parallel (over or under bark )


T 3.1 Survival test

Site 1 Site 2 Site 3Area Firenzuola

(Firenze)Montepiano (Prato)

Firenzuola (Firenze)

Altitude above sea level (m) 953 843 1079Average slope (%) 35-45 30-40 40-50Average mainline height (m) 12 6-8 14Direction of extraction uphill uphill downhillAverage extraction distance (m) 185 235 215Average concentration length (m)

12.3 15.4 12.6

Average log/tree diameter (cm) 41 37 42

Hauling tests in 3 conifer-dominated stands, handling test in Site 1


T 3.1 Survival test

Hauling Handling

Marked trees/logs 153 86

Lost/destroyed 5 0

Verified (e/v) 142 63

Verified (v) 6 16

Not verified 0 8

Dirt would limit visual systems (QR, barcodes)


T 3.1 overview•D 3.01) Portable RFID tag reader/programmer:

Expected M17, delivered M17

•D 3.02) RFID tag test:

Expected M17, partial delivered M18 System will be tested week 31, deliverable finalized week 32

Further outputs: Oral presentation at FORMEC 2015 conference; scientific paper planned

•D 3.06) RFID tag survival test along the supply chain:

Expected M 25, draft ready M 18

Further outputs: Oral presentation at FORMEC 2015; scientific paper submitted to international journal


Contact info

Gianni Picchi: [email protected]

Thank you for your attention

mailto:[email protected]

Project SLOPE

T3.2 – Processor head selection, purchase and re-engineering of the SLOPE system

componentsBrussels, July 2th, 2015

Mid term review meeting2nd July 2015

Overview

• Status: ongoing (75%)• Length: 12 months (From M6 to M17)• Involved partners

• Leader: Compolab• Participants: CNR, BOKU, Greifenberg

• Aim: Analysis and definition of processor head main features forSLOPE project tasks fulfilment; selection of a suitable processor head; purchase of the selected processor head; assembling ofprocessor head on excavator; reverse engineering of processorhead

• Output: D3.08 (submitted), D3.09 (due to M19)


Performed activities


Activities conducted so far have been mainly related to:

Analysis and definition of processor headmain features

Selection of a suitable processor head

Purchase of the selected processor head

Assembling of processor head on excavator

Results of theseactivities are

described andreported in D3.08


Required main and additional features

Crosscutting capacity

Debranching capacity

Requested prime mover

Diameter and length measurement

Access to technical documents

min. 40 cm

min. 35 cm

max. 10 ÷ 12 ton

mechanical drawingshydraulic system schematicelectrical system schematichardware and control software



Processor head technology

Roller processor Stroke processor

• Faster• Reliable• Length measurement• Heavy weight• High request of power• Big prime mover• More expensive

• Slower• Simple structure• Length measurement• Light weight• Low request of power• Small prime mover• Less expensive



Offer requests

Offer requests have been sent to the following

manufacturer

• Lako• Logset• Silvatec• Konrad• Keto• Log Max• Tapio• Arbro

Simple structures, low request of power and necessity of smaller prime mover, suggest stroke processor as more suitable for

SLOPE purposes.

Furthermore it looks easier to extract branch parameter, working on variation of pressure on the stroke hydraulic cylinder



Selected modelFeatures ARBRO 1000S

Weight [kg] 500

Maximum opening of delimbing knives [mm]

450

Number of delimbing knives 4 (3 + 1 fixed)

Feed force [kN] 35

Oil flow request [l/min] 80 ÷ 120

Nominal oil pressure [bar] 180

Delimbing speed [m/s] 0,3 ÷ 0,5

Prime mover weight [ton] 8 ÷ 12

Stroke [mm] 660



Processor head purchase


Selected processor head ARBRO 1000S hasbeen purchased by

Greifenberg on2nd April 2015


Assembling on excavator Liebherr 310 B


FeatureARBRO 1000S requirements

Liebherr 310 B

Prime mover weight [ton] 8 ÷ 12 13.8

Oil flow request [l/min] 80 ÷ 120 100 ÷ 120

Nominal oil pressure [bar] 180 185

Power [kW] 58

Dimension [m] 8.45 x 2.5 x 2.965

Maximum horizontal workspace [m]

7.9

Selected processor head ARBRO 1000S has been purchased by Greifenberg




• mechanical connection link between excavator and processor head rotator• Plexiglas barrier for operator protection• hydraulic piping between excavator and processor head• integration of a supplementary pipe in order to avoid the pressure on the head exhaust• exclusion of pivot circuit of the excavator boom for visibility and stability improvement• integration of a supplementary valve for feeding circuit activation at every start up• exclusion of bucket valves activation• electrical connections for processor head power supply• wiring from the boom and the cabin• positioning of processor head display tilt control on the instrument panel• connections of electrical controls on the excavator joysticks• training of Compolab technicians• delivery of the whole machine to Compolab facilities

Ongoing activities

Mechanical 3D modellingReconstruction of a 3D model of the whole processor head and related parts

of prime mover


KONICA MINOLTA Range7 FARO Focus3D 120

Ongoing activities

Mechanical 3D modelling


References for reconstruction

KONICA MINOLTA Range7

FARO Focus3D 120

Ongoing activities

Mechanical 3D modelling


Ongoing activitiesHydraulic systemsReverse engineering of the hydraulic systems

Design of the novel hydraulic sub-circuits forauxiliary hydraulic actuators (addition of pressureand flow sensors)


Electronic systemReverse engineering of the electronic systems

Electronic design of novel sub-circuits for:• auxiliary DC actuators• pressure sensors• encoder• accelerometers

• electric power supply• acoustic sensors• load cells• cameras

Conclusion


Following an analysis of SLOPErequirements and a market survey

on processor head brand and typology,a suitable harvester has been selected

and purchased: ARBRO 1000S

Completed activities Ongoing activitiesReverse engineering for:

mechanical 3D model (already started – 50%)

electronic circuits (already started – 70%)

hydraulic circuits (already started – 70%)

D3.08

Assembling of ARBRO 1000S onLiebherr 310 B excavator

D3.09

Contact info

Gaspare L’Episcopia: [email protected] Marrazza: [email protected]





Project SLOPE

T3.3– intelligent cable crane



Overview


• Status: 35 %• Length: 17 months From M 6 to M 23• Involved Partners

• Leader: GRE• Participants: CNR BOKU

• Aim: the aim of the WP is to set up the machines and toolsrequired to create an intelligent interaction among all theoperators involved in forest harvesting steep terrain. Inparticular in this task we focus on the self-propelledTECNO Carriage, on chokers and a synthetic rope launcher.An intelligent cable harvesting system.

• Output: D3.03

Work status

Task 3.1 CNRTask 3.2 COMPOLABTask 3.3 GRETask 3.4 COMPOLABTask 3.5 ITENETask 3.6 CNR

Mid-term Review 2/Jul/2015 Mid-term Review2/Jul/2015

I will briefly detail the three parts of the task


TECNO

TECNO SLOPE SELF-PROPELLED CARRIAGE IS READY


TECNO

All the mechanical parts are finished and now it is stored in our facilities


Tecno work status

The only missing part is the electric box and the wire connecting system


We will update the software with the sensors in the nextmonths to proceed with the deliverable to be submittedin Month 23.

What we will be doing till M23


Chockers work status

The chockers are being designed andmanufactured tailored for the Slope Project.The designing features follow the latestfunctioning systems on the market. We havebeen improving the working system also withthe double control system.

These chockers, called «GS 14» GreifenbergSlope 2014, are completely newly designed onthe electronic and also on the mechanical sideThey can work manually and also by the carriageplc and they do not need the operator to openthem



When the carriage is at theunloading point along the line, thelowering of the weight starts andwhen the logs are on the ground,the system opens letting thehook/grapple free



Components are being assembled thus creating acircuit specifically designed for the project



Transmitters have a relevant antenna allowingthe best performance and the receiver has anantenna inside the chocker.

Rechargeable batteries are located in a safeand easy to use way and we have prepared anexternal link protected by a screw tap for theworking operations to avoid the disassembly


Currently, our technicians are working to test the functionality in laboratory.When we have finished the in door testing we will give the chockers to twoforestry enterprises, harvesting ones, to be used in real working conditions.It is also important to highlight the fact that to work together with the TECNOSLOPE a new transmitter unit will be connected to the main PLC .

What we will be doing next


Synthetic rope launcher

The rope launcher has been developed with technical drawings and withthe pressure pushing calculationsThe air compressor, the piping line and the air distribution data havebeen decided.Now the works are concentrated on the directioning system and theropes spools.We are now going to make the first field test.


Synthetic rope launcher

In the following photos it is possible to see the body massthat will be launched and that will pull the rope.

You can note that it has a triple OR seals to keep thepressure during the passage through the barrel and a longtail to keep the pressure into the barrel during the initialshot.

Another picture shows the automatic opening hook thatwill start the shot according to the pressure launchestablished by the control system


Commercial outcomes

We have been discussing with stakeholders and clients inthe harvesting sector and they foresee some improvementin their productivity level with slope new technologiesdeveloped within our project not only because of anenhanced productivity level, but also because of a morelean and smooth supply chain and thanks to what they callhigher safety level for operators.

We are planning to include the new equipment in ourcatalogue at the end of the project.


Contact info

Diego Graifenberg: [email protected]


Project SLOPE

T3.4 – Intelligent processor head



Overview

• Status: ongoing (20%)• Length: 17 months (From M9 to M25)• Involved partners

• Leader: Compolab• Participants: CNR, BOKU, Greifenberg

• Aim: Add to a commercial processor head grading and marking capabilities while preserving the existing ones

• Output: D3.04 (due to M25)


Hyperspectral imaging system HI quality index – Described in D4.04

Near infrared imaging system NIR quality index – Described in D4.03

Cutting forces evaluation system CP quality index – Described in D4.06

Stress wave system SW quality index – Described in D4.05

RFID labeller


Intelligent processor head sub-system

Envisaged sub-system

Main goalsAdd to a commercial processor head (ARBRO 1000S) grading and marking

capabilities while preserving the existing ones

Hyperspectral imaging system


Starting from laboratory tests, most meaningful wavelengths for wood defect detection will be defined, in order to reduce complexity in on-field analysis

Tree harvesting in mountain areas (extremely harsh working conditions) reduce the number of suitable sensor

Laboratory test will provide information on most suitable hyperspectral sensors(photodiodes array 128 elements, line scan camera, micro-spectrometer…)

Laboratory test will provide information on most suitable sensor configuration(scan/snapshot, correct position, distance from log cross section)


Near infrared (NIR) imaging system



NIR sensors will be positioned on a lifting/lowering bar parallel to the chainsaw bar in a separated carter for protection from dirty, lubricating oil and chipping

Sensors will be selected considering also “robustness” features such as resistance to vibrations, working temperature range, IP grade protection, acelerations

All the operations related to signal (spectra) pre-processing, analysis, and data mining will be performed on the industrial PC

Selection and validation of most suitable sensors for installation on the processor head will be performed at the initial phase of the T4.2

Cutting forces evaluation system



Pressure sensors for continuous measurements of oil pressure in:

• hydraulic chainsaw motor• feeding piston

Oil flow meter for continuous measurements the amount of hydraulic oil through chainsaw motor

Encoder on chainsaw bar

Cutting forces are related to

Cross-cutting Debranching

Pressure sensors for continuous measurements of oil pressure in:

• main feed piston• cutting arms• holding arms

Load cell for continuous measurements of exerted forces on the three knives

Acoustic emission will be eventually integrated with the debranching system

Stress wave system



Technical meeting in January in San Michele (CNR- IVALSA facilities) for preliminary studies on stress wave system

Two systems for stress wave test will be studied and designed for a reliable integration on the harvesting machine

Accelerometers measurement system Laser measurement system

Longitudinal axial modes analysis with the resonance method

Composed by a tool exerting on the transversal side of the tree, a mechanical

pulse and a laser triangulation sensor able to detect and measure the induced free

vibration of the tree

Wave pressure time of flight measurements in the processed wood

Composed by two accelerometers and a sensorized hammer that provides

the mechanical stimulus and trigger signal

Stress wave system



Preliminary design for accelerometer measurements system

RFID labeller



RFID tags will be placed on the cross section of each log

RFID tag will be fixed on logs by staple (most reliable system)

RFID tags

In order to simplify the process, each tag will be placed in a fixed position

Minimum log diameter (~20 cm)

Log cross section

System will be placed on a movable bar and will be composed by:

• cartridge box for RFID tag (50 tag minimum)

• loader• stapler• RFID antenna• RFID reader (placed in a box

on the processor head)

Intelligent processor head design

Sensor distribution

Pressure sensors

Load cells, microphones, pressure sensors on each

knive

1 axis accelerometer +3 axis accelerometer

Scan bar: encoder,NIR camera, camera,microphones, LEDs

RFID antenna

Pressure sensor

Other sensors:cameras on the stem of the head processor


Intelligent processor head designActuators

RFID positioner

Scan bar actuator:24 V DC brushless with

reduction stage gearbox,stress wave generator

Stress wave generator,Actuation system for

accelerometer placementand removal

Scan bar cleaner(compressed air)


Electronic devices

Electronic devicesCompactDAQCRIO-9081: High Performance Integrated System, 8-Slot, LX75, RTNI 9205: 32-Channel ±10 V, 250 kS/s, 16-Bit Analog Input ModuleNI 9203: Screw Term, +/-20 mA, 16-Bit, 200 kS/s, 8-Ch AI ModuleNI 9234: 4 Input, 24-Bit, 51.2 kS/s, SW Selectable IEPE & AC/DCNI 9421: Screw Term, 24 V, 100 μs, 8-Ch Sinking DI ModuleNI 9375: 16-ch DI, 16-ch DO, DI/DO C Series ModuleNI 9472: 8-Ch 24 V, 100 us, Sourcing DO ModuleNI 9882: 1-Port DeviceNet C Series Module

Industrial PC


Solid state memory Serial communicationWide temperature range Ethernet communicationHeat sink USB portsDust protection (IP6X) External touchscreen monitor

Intelligent processor head design

Electronic structure

Sensors CamerasHead processor

controller

Sensor’s actuators control

RFID positioner RFID antenna

Communication


Electronic devices

Power management

Main energy source

Filtering stage

Voltage conditioning(buck converters)

Distribution

Uninterruptible power supply

Voltage providedby alternator is not suitable forelectronic devices and sensors

Provide correct power supply for:CompactRio, industrial PC,sensors, actuators, antenna


Conclusion


Preliminary studies on main subsystems have been started and the hardware components have been defined

Laboratory test will led to the final design definition

Next activities

Realization of all designed mechanical parts (completed within M23)

Integration of the designed subsystem on the machine (completed within M24)

Modifications/development of low level software for the integration of the control of new added subsystem and related high level software (completed

within M24)

Intensive test activities in workshop and on the field (from M24)

Contact info

Gaspare L’Episcopia: [email protected] Marrazza: [email protected]





Project SLOPE76

T 3.5 - Intelligent transport truck


Overview

• Status: On Going (50%)• Length: 12 months (M12 to M24)• Involved Partners

• Leader: ITENE • Participants: CNR, MHG, BOKU

• Aim: Track trucks and loaded logs and send the information into the SLOPE system

• Output: Deliverable D3.05 (early development stage, due to M24)

General Architecture78

79

Main development line: Readers in truck

Communication scheme

Communication scheme80

Side development line: GPS trucking + manual reading

What is done81

Working laboratory protoype system with: Hardware deployment (Linux CPU ARM rpi, GPS DONGLE, GPRS

DONGLE, Intermec RFID IF61 reader Software deployment: python development platform, Postgress

Database, XML and JSON libraries, BRI communication, SQL communication

GPS data acquisition RFID data acquisition (with Intermec readers) Local storage of data User interface for control and monitoring

What is done82

What is done83

What is done84

What is done85

What is done86

Next Steps87

1. Implement GPRS connexion

2. Implement connexion with main database (sending / retrieving info, with MHG)

3. Implement power source / batteries

4. Development of encapsulation

5. Test1: live vehicle tracking

6. Test2: RF field coverage analysis in truck

Time schedule88

M13 M14 M15 M16 M17 M18 M19 M20 M21 M22 M23 M241 Hardware deployment (Linux CPU ARM rpi, GPS DONGLE, GPR 2 Software deployment: python development platform, Postgre 3 GPS data acquisition4 RFID data acquisition (with Intermec readers)5 Local storage of data6 User interface for control and monitoring7 Implement GPRS connexion8 Implement connexion with main database (sending / retriev 9 Implement power source / batteries

10 Development of encapsulation11 Test1: l ive vehicle tracking10 Test2: RF field coverage analysis in truck

Contact info

Juan de Dios Díaz ([email protected])Emilio Gonzalez([email protected])




Task 3.6: data management backupObjectives

The goals of this task are:• to develop system for data exchange between hardware in field and central computer of FIS• to provide a data backup strategy

Task 3.6: data management backup

Task Leader: CNRTask Partecipants: Compolab, Greifenberg, Graphitech, Itene, (Treemetrics)

Starting : March 2015Ending: February 2016

Status: 25%

The partners involvement described in the following slides.

Task 3.6: data management backup

Deliverables

D.3.07 Black-box for backup and data transmissionPrototype: portable and internal powered black box for daily/weekly data back up and for data transmission in areas without GPRS coverage

Delivery Date: February 2016 (M.25)

the “black box” solution is a portable storage (SSHD or similar)

the external storage will be connected with USB (or Wifi) to the industrial PC hosted by the excavator

the dedicated GPRS module compatible with PC/CRio will be used for communication with the central server in a case of the network coverage

the additional backup module compatible with PC/CRio will be used to store the critical data

the data to be transferred with GPRS will be limited and has to be clearly defined

Task 3.6: data management backupdetailed concept (new DoW)

Task 3.6: data management backup data flow

NI CompactRio master

Database

NI CompactRio client

FRID

wei

ght

fuel

???

Data storage

CP NIR HI SW

cam

era

kine

ct

select and purchase optimal hardware (CNR, Graphitech and COMPOLAB) integrate the hardware modules with CRio chassis (CNR and COMPOLAB) define structures of data (both; to be transmitted via 3G and stored for further use in FIS (Graphitech + Treemetrics) define compression and or coding of the data to be transferred by GPRS (CNR, Graphitech and COMPOLAB) to develop the software for communication of the cable crane and central computer (Greifenberg, CNR and COMPOLAB) to develop the software for field instruments and GPRS communication (CNR and COMPOLAB) to develop software tools for merging the data with FIS (Graphitech) to extensively test the solution both in lab and in field (all partners)

Task 3.6: data management backupwork plan (new DoW)

Thank you very much

mid-term review meeting - wp3

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