Presented To: Robotics in the Forest Conference – Montreal

Presenter: Matthew Fordham Unmanned Systems Group Lead

Date: 22 April 2015

Feller Buncher Tele-Operation … Removing the Risk

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Agenda – Forestry Operations

The Risk The Technology The Operations The Statistics The Future

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The Risk US Statistics:

• 128 workers per 100,000 full-time loggers killed each year (#1 rate of death per profession in the US)

• ~18x more than the average US workplace death (7 workers per 100,000)

Canada Statistics: • Average of 22 deaths annually through 2004 • 43 loggers killed in British Columbia in 2005 • Significant reduction, but grew to 11 in 2014

New Zealand Statistics: • 28 loggers killed and 967 serious injured over the

past 5 years These are just the measureable countries…

• China, Russia, South American countries, and many others don’t keep statistics

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The Risk – US CDC graph

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Lack of training

The Risk – Causes

Fatigue

Lack of proper equipment • Loggers are an innovative group • If industry doesn’t build it…they will

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The Technology – Modular Robotic Applique Kit (MRAK) M-RAK Capabilities

• Provides full tele-operational command and control of platform from up to 2.1 KM away

• Provides situational awareness (up to 8 cameras and audio channel) to the operator at the Operator Control Unit (OCU)

• Emergency Stop system that operates on its own radio frequency

• Provides platform information (Fuel levels, temperatures, pressures, etc.) to the operator

• Power adaptation kit that manages 10V to 30V inputs

• Communicates via standardized messaging to the platform

M-RAK Mounting (example)

M-RAK Components

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The Technology – Traditional Systems The ‘Old Days’ (mid 90’s – 2010)

• Pilot-Hydraulic controlled systems Parallel valves and manifolds with

electro-hydraulic components Use electro-hydraulic components

to push/pull valves

Complex Integration

Environments • Many components/subsystems Vehicle Control Unit Power Distribution Unit Vehicle Relay Unit Camera Multiplexer Unit Meters of cabling

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The Technology – Systems Today Controller Area Network (CAN):

• J1939 Standard released in 1986, 2.0 released in 1991

• Not really that popular until the mid 2000’s

• Made popular and cost effective by the automotive industry

• 100 % electronic control of hydraulics Benefit • Simplifies the interface, reducing the

integration time by 75% • Three interfaces

Power – 10V – 30V off the platform Communications – Deutsch connector Safety – Emergency stop into ECU

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The Operations – Missions Unexploded Ordnance (UXO) and Minefield

Clearance operations • In the US, we have the area equivalent of Florida

(170,304 Km2) littered with UXO • World-wide, minefields are still being laid faster

than we can clear them • Extremely dangerous (and costly) to put humans in

this environment Unexploded munitions/mines in the ground

(track contact can set munition off) Unexploded munitions in the trees (saw blade

can set munition off) Extreme Logging operations

• Extreme slopes = equipment rollovers • Even with D7 dozers and cabling systems, accidents

have occurred

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The Operations – UXO Clearance Missions Army Corps of Engineers Mission:

• Clear approximately 2000 acres of wooded target ranges at Ft. Bragg. POP 270 days.

• Use robotics to clear the high risk areas (1/3) of the acreage.

ARA’s role: • Develop and integrate the M-RAK onto a

CAT 521B Feller Buncher. POP of 90 days

Results: • Contract was awarded to ARA 15

September 2013 • USACE accepted 3 M-RAKs and 1 spare on

3 December 2013

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The Operations – UXO Remediation, Runway Clearance Cornhusker Ammunition Plant, NB

• Scrape and sift top 6’ of contaminated soil at previous ammunition manufacturing site.

• Develop and integrate the M-RAK onto a CAT 336E Hybrid Excavator

• Delivered to URS in 64 days • Operated 10hrs/day, 6 days/week

for 7 months….97% operational up time

Republic of Korea • Airfield UXO remediation and repair • Rapidly clean up airfields after an

enemy bombing run

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The Statistics Productivity*

• Experienced Feller Buncher Operators can cut 8 trees/minute • Remote operations has shown productivity of 6 trees/minute • 25% slower than traditional cutting • However it is 100% safer

Time to install • 30 minutes to install an applique kit onto a CAN enabled piece of heavy

machinery. Non-intrusive, providing for opportunities to rent equipment rather than purchase

Operational savings • Anticipated Savings= 50% - 75% of ‘normal clearance operational costs’ • Actual Savings = ??....We will know this summer

Statistics from FT. Bragg operations will be made available

*Based on a total of 247 trees cut (collectively about 1hr of total cutting time)

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The Future - Autonomy General Purpose Logging (future ops)

• As autonomy capabilities mature, semi-autonomous cutting operations will take place.

What is needed: • Addition of Sensor Packages • Maturation of Obstacle Detection/Avoidance algorithms • Maturation of GPS denied technologies • Tree marking technologies

Where we are today: • Sensor packages exist (LiDAR, Cameras, IMUs) • Obstacle detection and avoidance algorithms exist • Tree marking technologies exist

What is left to do: • Just figure out how to navigate a complex environment,

selecting specific trees, performing autonomous cutting, (taking into account size of trees, number of trees, and co-location of trees) and autonomous stacking (where, how tall, how many)…

Point Cloud

Terrain Height Model

Terrain Roughness Model

Autonomy Package

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Questions and Comments