2nd Technical Meeting - WP3

Project SLOPE

Annual Meeting19/Jan/2015

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

areas (hardware development)

Task 3.1 (former tasks 3.1 and 3.2)


M6 beginning - M17 end (May 2015)

Partners: CNR, BOKU, ITENE, TRE, MHG, GRE (?)

Deliverables

•D3.01) Portable RFID tag reader/programmer: Prototype of portable RFID tagreader/programmer, for equipping foresters and forest workers. [month 17]

•D3.02) RFID tag test: Report on field test results for portable equipmentperformance and optimal positioning of RFID tags in standing and felled trees.[month 17]

•D3.06) RFID tag survival test along the supply chain: Report on RFID tag“survival rate” and info reporting along the process (as simulated in laboratory or preliminary tests conditions). [month 25]

Task 3.1 – RFID UHF tags

•7 MODELS OF TAGS WERE TESTED•53 TREES WERE MARKED IN SOVER WITH RFID TAGS•FURTHER TAGS WILL BE PLACED IN SPRING PRIOR TO HARVEST•PLASTIC (RESIN) SCREW PRODUCER WAS CONTACTED•CONTACTS WITH FURTHER TAG PRODUCERS ARE ONGOING

•AIM AT CONSISTENT TAG MODEL OVER THE SYSTEM

•Test for operational efficency (water interference) will beperformed by CNR and BOKU with the support of ITENE. Testplan ready shortly, planned for February.


Task 3.1 – RFID tag prototype

88 mm

30 mm

In the back of the label

Insertuntil hereId: 0000 0000 0000 0001

120 mm

30 mm

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

Printed Id to visually check

Mark to indicate that the labelshould be introduced betweenthe tree and the bark untis itreaches this line

Mark to indicate where to putthe staple

Datamatrix code to also codethe Id90 mm


RFID LABEL DESIGN FOR USE IN SLOPEPROJECT

Task 3.1 – RFID tag positionig


T 3.1 Tag positionImportance:

Survival rate of different positions/models (tobe tested in spring with the Sover harvestoperations)

Readibility of the tags and position ofantennas on the machines (linked to T 3.4)that shall be known in advance (February’s tags’ laboratory test will provide part of theanswers)

Kick-off Meeting8-9/jan/2014

Task 3.1 – equipment selectionHandheld RFID UHF tag reader

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 interfaceIP54

Task 3.1 - Tools for foresters

Positioning-interfacetwo options:

Lower cost – androidtablet, externalbluetooth gps antenna

Higher cost – LeicaGeosystemtopographic GPS andall weather tablet(P67)


Task 3.1 - Tools for foresters


T 3.1 Intelligent felling-hauling




In the simplified database the tags may berelated to bucking suggestions.

MHG responsible of data management.

The interface shall be as simple as possible,but the operator must be able to interact withthe data.

Example of possible buckingsuggestions from Autostem

ID 2400005235

DBH (cm) 42 Height (m) 23

Assortment As1 As2 As3 As4 TOPLength 440 330 440 500 610Suggestion_1 770 1550Suggestion_2 1210 1110Suggestion_2 1710 610



T 3.1 future work


DEADLINES

-Interface and software for tagging the SLOPE database (M14) TREE, CNR, BOKU

-Positioning-interface equipment selection and interfacing (M14) TREE, CNR, BOKU

-Software for database management (updating and elaboration) (M15) MHG-TRE

-Test plan and test execution for selected tags in laboratory conditions (M14) CNR,BOKU, support of GRE and ITENE

-Test plan and test execution for tags in hauling operations (Sover), expected M15 orM16. CNR, BOKU and GRE

T 3.1

THANKS!

GRAZIE!


Work Package 3 – Task 3.2

Processor head selection, purchaseand re-engineering of the SLOPE

system components

TechnicalMeeting19-21 January 2015

Presented by task leader: CompolabWP leader: Graifenberg

Presentation index

Processor head selection

Processor head purchase

Re-engineering of theSLOPE system component

Conclusion

Main and additional featuresProcessor technologyOffer requestsSelected models

Mechanical 3D modellingHydraulic devices and schemesElectronic devices and schemesControl software


Processor head selectionMain 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 selectionProcessor head technology

Roller processor

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

Stroke processor

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



Offer requestsOffer requests have

been sent to the followingmanufacturer

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

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

SLOPE purposes.

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





Selected models

In order to fulfil therequirements of 60 cm logdiameters a bigger version

of ARBRO 1000 model isforeseen to be developed


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

Purchase of the selected processor is not yet done

Delivery of the purchased processor head is foreseenwithin 60 days starting from order confirmation


Re-engineering of the SLOPE systemcomponent

Mechanical 3D modellingReconstruction of a 3D model of the

whole processor head and relatedparts of prime mover

Design of a virtual model of thenew intelligent processor head

Design of the real model of the newintelligent processor head

It should be done from 2D drawings ifprovided by manufacturer or by reverseengineering on the physical processor

head

All sensors used for quality indexdefinition (WP4) in lab environment will

be assembled in the virtual 3D model

Results from WP4 on quality index willsuggest the more suitable sensors

configuration for the new intelligentprocessor head



Hydraulic devices and schemes

Reconstruction of the schemes of thehydraulic systems:• of head processor itself• of the part of prime mover directly

connected with the processor head

Hydraulic design of novel sub-circuits forauxiliary hydraulic actuators



Electronic devices and schemesReconstruction of the schemes of theelectronic systems:• electrovalves of processor head it

self• electrovalves of prime mover

directly connected with theprocessor head

Electronic design of novel sub-circuits for:• auxiliary DC actuators• pressure sensors• encoder• accelerometers• electric power supply• acoustic sensors• load cells• cameras


Conclusion

Processor head main feature definitionManufacturer analysis

Processor head selected100% fulfilment

Offer request to manufacturerLack of amendmentNo contract for processor head purchase signed

No processor head available50% fulfilment

Planning of re-engineering activities for:mechanical modelhydraulic circuitselectrical and electronic circuits

5% fulfilment


Technical Meeting:WP 3

Integration of novel intelligent harvesting systemsoperating in mountain areas

In plain words...to make machines work well.

Day 1 afternoon

I will present the information and notes prepared by Diego CEO of thecompany and WP 3 leader.Later on he will then provide his contribution describing task 3.3

According to the agenda of themeeting

Parallel sessions will help to finalize some still open issues related tothe Amendment notes

Time frame

Tasks Deliverable Deliverable deadline

Deliverable Name

3.1 CNR D3.01 17 Portable RFID tagreader/programmer

3.2 COMPOLAB D3.02 17 ? Processorselection, etc..?

3.3 GRE D3.03 21 Intelligent cablecrane carriage

3.4 COMPOLAB D3.04 23 ? Intelligentprocessor

3.5 ITENE D3.05 24 Intelligent truck

3.6 MHG D3.06 25 Datamanagementback up?

Deliverables

Road Map:the start

Overall progress of tasks

Now i will report the information gathered from the other partners involvedin the WP.

Each task leader will then be more complete and detailed.

Task 3.1 intelligent tree marking

CNR is leader of T 3.1 of the old (and still the current) DOW,"Intelligent tree marking", while T 3.2 "Intelligent tree fellingand hauling" would be under the lead of GRE.Actually T3.2 is,according to the today's agenda and toAmendment proposal under the lead of Compolab.

In spite of this, for simplicity and for the synergies we foundin our activity, Gianni suggested to merge since thebeginning the two activities, as proposed in the amendment.

Task 3.1- so far....

CNR has carried out what follows:

CNR tested several RFID tags as proposed (and provided) bythe partner ITENE. Gianni has prepared a file "Marked trees"which reports a brief description of the activity, the typeand number of tags placed and the plan.

Task 3.1

The forest parcel was supposed to be harvested in November-December, but the private company decided otherwise, thusCNR could not test the survival rate of the different tags at thehauling process.

CNR also produced, mostly in cooperation with the partnersITENE and TREE a roadmap of the activity to be done, and theprocesses and interfaces to be developed. This part is on going.

Task 3.1

The equipment for the intelligent tree marking is basicallyavailable (TREE is developing the software interface amongthe tag reader and the tablet).

The same can be stated for the operator taking care of fellingand hauling.

Task 3.1

Nevertheless CNR would prefer to test different hardware, ifpossible. Their main concern is that the GPS capacity of theequipment so far considered is not always effective under ourwork conditions, limiting the actual operational capacity.

Task 3.1

Today meeting will be an occasion for discussing togetherpossible solutions or integrations to be explored.

Task 3.2 and 3.4

In this parts I will report the information Compolabshared with me. They will be more detailed later.

Task 3.2 - Summary

Head processor main feature definition

Manufacturer analysis

Head processor selected100% fulfilment

Offer request to manufacturerLack of amendmentNo contract for head processor purchase signed

No head processor available50% fulfilment

Planning of re-engineering activities for:mechanical modelhydraulic circuitselectrical and electronic circuits

5% fulfilment

Task 3.4 - Summary

Laboratory scanner sensors selectionElectronic hardware definitionStructure definition

70,25% fulfilment

Intelligent head processor design• sensor position:support and protective carter• sensors actuators• cabling

5,8% fulfilment

Electronics:CompactRIO modules definitionIndustrial PCpower management

52,4% fulfilment

Task 3.5 IntelligentTransportTruck

Task 3.5 – Intelligent transport truck

Task leader: ITENE; Participants: CNR, MHG, BOKUIt started in Month 12, December 2014It will end in Month 24 December 2015

This task will take care of adding intelligence to trucks andtransport vehicles to move timber and biomass between the processing areaand the end users and/or the storage areas.These vehicles will be able to communicate their position, their weight and the fuelconsumption through a satellite/GPRS connection, allowing the detection of theirlocation in real-time situations (MGH, BOKU, ITENE).This data will be used to optimize routes and analyse the truck load statusby mean of the ERP platform.

Task 3.5

Furthermore the trucks will be capable of reading the RFID tags of thetimber loaded, providing a comprehensive information about the loadquality, quantity and origin: valuable information for traceability, tradingand planning (CNR, ITENE). Thanks to this, full traceability of timber andwood production will be implemented.To accomplish this, a smart device will be developed and introduced intrucks, with the following capabilities:•RFID reader/antennas integrated within the truck. Typical RFID readerscould be used• GPS positioning• BUS CAN connection to the truck, in order to detect values of fuel

consumption, km and load weight• GPRS/UMTS/3G module to send data via satellite connection

Task 3.6

Task 3.6 - Data management back-upTask leader: MHG; Participants: GRE, CNR,"...........", ITENE

It will start in Month 14 February 2014It will end in Month 25 December 2015

In this task a local data exchange system will be designed for theinteraction of the machines involved also in areas with no GPRS/UMTScoverage.

Task 3.6

Task 3.6 - Data management back-up

To progress with this task, the partners have to define the tx/rx devicesaccording to the single machine development of the specific system.

After the parallel session many issues will be defined to start with safeand clear information.

Criticalities

The critical aspects of a new project are many,in particular each new device can meet problems to do the duty in interaction,the mechanical modifications can reduce the general performance,some new applications can not be compatible withthe original project or can not be reliable for that duty.

We will supervise the supply chain and provide feasibility.

Criticalities

Other troubles can occur when more machines (this is our case) must worktogether, the reason way is the compatibility between different hardware orthe software done by several partners and without interaction or with nocompatible working mode.

Recommendations

To proceed with works effectively, communication among partners isof paramount importance.

When you make a choice about a component it is very important toconsider the application range and pay attention about the IP and thevibration limits on the data sheet.

In each choice about the solutions we must pay attention to theindications and the needs of the project

Recommendations

Furthermore, informations on machines and equipmentdeveloped in WP 3 will timely be conveyed to pilot activitiesleader.

Head processor, excavator, carriage, truck technical features are the criteriato follow to plan pilots.

For example, data that need to be considered are:Max diameter of the timberMax capacity of machines and equipment(weights)Type of truck (2x4, 4x4, 2x6)

Another important feature to share is the criteria to choose the suitable pilotarea ( coverage, repeaters, high voltage electric lines,etc... that mightinterfere with machines.)

RecommendationsOn testing site, operators should have the requested skills to work withthe equipment for effectiveness and safety reasons.

Training and education planned activities are compulsory in thetraditional logging, exploitation areas as well as in the technical serviceones for the use on new equipment.

Task 3.3 intelligent cable crane

Task 3.3 intelligent cable crane

TECNO Carriage

Remotely controlled andprogrammable Chockers

Synthetic Rope Launcher

Task 3.3TECNO CARRIAGE

Technical drawings and projects forthe floating system of the lifting winch of the carriagehave been developed and evaluated

TECNO will be developed together the processor head.The main frame is ready but the deviceswill be mounted after a generalagreement with the involved partner in this task.

The important modifications that TECNOwill have, need several testing activities to check theright functioning.We have reached and agreement with a forestryharvesting company to test the carriage before ourpilots and first trials with the other partners.


TECNO carriage is an automatic and selfpropelled carriage. It can move up and downthe line by itself.It is enough to put in data to memorize theline and then it works as an intelligentcarriage.These features allows a faster,safer and moreeffective harvesting works.


Furthermore, for our Slope project, TECNO will also beable to:

Check the weight of the timberRead the tagsCheck the presence of operators below the lineOpen automatically the electronic chockersInteract with the processor head and with the server andthe black boxStorage data in its memory cardTransmit the current situation, such as position, workingspeed, fuel consumption


Task 3.3 CHOCKERS

technical drawings and projects for thechockers / carriage have been elaborated andassessed

Task 3.3 CHOCKERSFurthermore, we have been paying attention to safetyissues related to their use.In particular, we have checked the feasibility of a doublesafety control against accidental opening and for

Automatic closing checkDouble way receiver to send and receive current stateinformation to the carriage.No dangerous parts for fingersLong operative distance and long duration for batterybefore recharge.Small shape and light weight

Task 3.3 ROPELAUNCHER

The rope launcher design and project is now ready forthe start up of manufacturing and testing activities

Task 3.3 ROPELAUNCHER

Some Technical features finalized so far....

1,5 kg of launched material7 mm diameter high resistance rope800 mt operative launching distance1,8 ton recovery winch capacityPLC to calculate azimut, tilt inclination and air pressureGPS coordinatesAuto regulation and orientation

Task 3.3 effort by Greifenberg

3,91 M/M from Month 1 to 12

1,38 M/M from Month 7 to 12

M/M 21,7%

Remaining M/M 14,09

Thank you.

Work Package 3 – Task 3.4

Intelligent processor head

Presented by: CompolabWP leader: Graifenberg

Presentation index

Laboratory scanner

Intelligent processorhead design

Electronic design

Low level control

software Conclusion

Electronic structure

Sensor positionSensor actuators

CompactRIO modules definitionIndustrial PCPower management


Laboratory scanner

Electronic structure

Sensors

CompactRIO

Cameras

Industrial PCquality index elaboration

forest information DB

Head processorcontroller

Sensor’s actuatorscontrol

RFID positionerRFID antenna

Communication

Intelligent processor head designSensor position

Other sensors:cameras on the stemof the head processor

Pressure sensors(delimbing forces)


Load cells, microphones,pressure sensors on each

blade(delimbing forces)

1 axis accelerometer +3 axis accelerometer

(wood mechanical properties)

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

(wood properties)

RFID antenna

Pressure sensor(cutting forces)

Intelligent processor head design

Sensor actuators

RFID positioner

Scan bar cleaner(compressed air)

Scan bar actuator:24 V DC brushless with

reduction stage gearbox,stress wave generator

Stress wave generator,Actuation system for

accelerometer placementand removal


Electronic devicesElectronic devicesCompactRIO

CRIO-9081: High PerformanceIntegrated System, 8-Slot, LX75, RTNI 9205: 32-Channel±10 V, 250 kS/s, 16-Bit Analog Input ModNI 9203: ScrewTerm, +/-20 mA, 16-Bit, 200 kS/s, 8-Ch AI ModNI 9234: 4 Input, 24-Bit, 51.2 kS/s, SW Selectable IEPE & AC/DNI 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

(to be defined)

uleuleC

+ Industrial PC

Electronic devicesElectronic devicesIndustrial PC

not yet definedfan lesssolid state memory

Electronic devicesPower management

Main energy source

Filtering stage

Voltage conditioning(buck converters)

Distribution

Uninterruptiblepower supply

Voltage provided directlyby alternator is not suitable forelectronic devices and sensors

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

Low level control software

Low level control software

Arbro provides its processors head with customized control

system Manufacturer expressed the willingness to collaborate

providing processor heads

control software as open script

Software would be available as a starting point for thedevelopment of a more complex control software that merge

results from quality index algorithms (WP4) and low level control

Conclusion

Intelligent processor head design 5% fulfilment

Electronic design 30% fulfilment

Low level control software 0% fulfilment


Project SLOPE 1

T 3.5 - Intelligent transport truck

San Michele all’Adige, January 19th, 2015

Scope 2

This task aims to:Addintelligence to transport trucksTechnologies that will be implemented

RFIDGPS positioningGPRS / UMTS…

To be developed from M12 to M24

Includes development of “D3.05 Intelligent Truck”

Partners involved:ITENE (leader), CNR, MHG, BOKU

Education

2nd Technical Meeting - WP3