ELEC-E8120 - Smart forestry machines, Lecture, 26.2.2024-8.5.2024

Topic outline

• Select topic General

  General
  • Select activity Announcements

    

    Announcements Forum
  • Select activity Lecture 1, Feb 26 & Mar 4: Arrangements, Current CTL Forest Machines, Harvester + Forwarder

    

    Lecture 1, Feb 26 & Mar 4: Arrangements, Current CTL Forest Machines, Harvester + Forwarder Folder

    Arrangements

    • Lectures: Arto.Visala@aalto.fi on Mondays in the beginning (maybe also on Wednesday later) 12:15- 12:00 TU4
    • Lectures cover the main content of the course.
    • The automatic driving in forest is illustrated in a small Polaris eATV-project, done individually.
    • Exam or 7 x Study Diaries 65 % and the report of the project above 35%.
    • Study Diary is a one A4 page summary about each lecture set, written by hand. Take a photo, convert it to pdf and sent arto.visala@aalto.fi.
    

    Current CTL Forest Machines, Harvester + Forwarder

    • The best way to learn the state of art current forest machines to look at www-pages of the leading
    companies. Videos illustrate the operation. Look particularly what is represented about control systems and harvesting information systems.
    • Smart machines means semiautonomous operations in easy conditions and that the machines with modern perception devices are becoming producers of big data. 

    https://www.ponsse.com/#/
    https://www.deere.com/en/forestry-and-logging/cut-to-length-logging/
    

  • Select activity Lecture 2, Mar 11: Forest SLAM with LiDAR, Localizationg and Mapping

    Not available unless: You belong to L01 (SISU)

    

    Lecture 2, Mar 11: Forest SLAM with LiDAR, Localizationg and Mapping Folder

    Forest SLAM with LiDAR, Localizationg and Mapping

    Positioning in forest, Forest SLAM with LiDAR, creating map of trees. Experiments with ATV , IEEE ICRA 2007. Also experiments with a real Forestry machine
    

    
    

    First 3D Forest SLAM
    

    Feature Based Modeling and Mapping of Tree Trunks and Natural Terrain Using 3D Laser Scanner Measurement System, IFAC IAV 2013

    
    

  • Select activity Lecture 3, March 18: Machine Vision in Forest SLAM

    Not available unless: You belong to L01 (SISU)

    

    Lecture 3, March 18: Machine Vision in Forest SLAM Folder

    Machine Vision in Forest SLAM

    Measuring diameters of the stems of trees (Kosti Kangas)

    Classification of species of trees (Sampsa Kosonen)

    
    

  • Select activity Lecture 4, March 2024: Machine perception in the harvester head

    Not available unless: You belong to L01 (SISU)

    

    Lecture 4, March 2024: Machine perception in the harvester head Folder

    Machine perception in the harvester head

    BEFORE FELLING – MEASUREMENTS

    • MOTION VISION, DEPTH IMAGE FROM OPTICAL FLOW
    • BEFORE FELLING – MEASUREMENTS, STEREO VISION
    • BEFORE FELLING – MEASUREMENTS, LiDAR

    DURING PROCESSING -METHODS

    • DURING PROCESSING –Fiber optic blade camera, VTT
    • DURING PROCESSING –CUT SURFACE IMAGE ANALYSIS , TTY Prof Ritala
    •  Lenght measurement using sequence of images

    
    

    
    

  • Select activity Lecture 5, April 8: Semiautonomous Cleaning of Young Forests

    Not available unless: You belong to L01 (SISU)

    

    Lecture 5, April 8: Semiautonomous Cleaning of Young Forests Folder

    Semiautonomous Cleaning of Young Forests

    • The prototype of a Semiautonomous Early Cleaning machine
    • The Instrumentation of the crane
    • Recognition of small trees with machine vision
    • HMI
    • Detection, Localization and Species Identification of Young Trees Using Machine Vision fro late cleaning

    
    

  • Select activity Lecture 6, April 22: Nonlinear Model Predictive Control (NMPC) of the Forestry Crane

    Not available unless: You belong to L01 (SISU)

    

    Lecture 6, April 22: Nonlinear Model Predictive Control (NMPC) of the Forestry Crane Folder

    Nonlinear Model Predictive Control (NMPC) of The Forestry Crane

    • The general structure of the NMPC problem
    • Kinematic model of the crane
    • NMPC for boom tip control with Anti-Sway

    Sway Estimation using Inertial Measurement Units for Cranes with a Rotating Tool
    

  • Select activity Lecture 7, April 29: Automatic driving in terrain, semiautonomous forwarder

    Not available unless: You belong to L01 (SISU)

    

    Lecture 7, April 29: Automatic driving in terrain, semiautonomous forwarder Folder

    Automatic driving in terrain, semiautonomous forwarder

    Introduction of project SUSTAINABLE AND COST-EFFICIENT SEMI-AUTONOMOUS FOREST MACHINE SYSTEM FOR THE CLIMATE CHANGE CHALLENGED FUTURE, AUTOLOGGER
    

    Positioning, Map of trees, Forest SLAM

    Dynamic models for the three test platforms
    

    Measuring the 3Dform of the driving path

    MPC-control for Automatic driving