Feller Buncher Tele-Operation … Removing the...
Transcript of Feller Buncher Tele-Operation … Removing the...
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
2 © 2015 Applied Research Associates, Inc.
Agenda – Forestry Operations
The Risk The Technology The Operations The Statistics The Future
3 © 2015 Applied Research Associates, Inc.
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
5 © 2015 Applied Research Associates, Inc.
Lack of training
The Risk – Causes
Fatigue
Lack of proper equipment • Loggers are an innovative group • If industry doesn’t build it…they will
6 © 2015 Applied Research Associates, Inc.
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
7 © 2015 Applied Research Associates, Inc.
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
8 © 2015 Applied Research Associates, Inc.
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
9 © 2015 Applied Research Associates, Inc.
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
10 © 2015 Applied Research Associates, Inc.
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
12 © 2015 Applied Research Associates, Inc.
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
13 © 2015 Applied Research Associates, Inc.
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)
14 © 2015 Applied Research Associates, Inc.
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