1. business and industrial
2. business operations

Feller Buncher
Tele-Operation …
Removing the Risk
Presented To: Robotics in the Forest Conference –
Montreal
Presenter: Matthew Fordham
Unmanned Systems Group Lead
Date: 22 April 2015
Agenda – Forestry Operations
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The Risk
The Technology
The Operations
The Statistics
The Future
© 2015 Applied Research Associates, Inc.
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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
© 2015 Applied Research Associates, Inc.
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The Risk – US CDC graph
© 2015 Applied Research Associates, Inc.
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The Risk – Causes
 Lack of training
 Fatigue
 Lack of proper equipment
• Loggers are an innovative group
• If industry doesn’t build it…they will
© 2015 Applied Research Associates, Inc.
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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 Components
M-RAK Mounting (example)
© 2015 Applied Research Associates, Inc.
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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
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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
© 2015 Applied Research Associates, Inc.
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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
© 2015 Applied Research Associates, Inc.
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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
© 2015 Applied Research Associates, Inc.
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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
© 2015 Applied Research Associates, Inc.
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 Productivity*
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The Statistics
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)
© 2015 Applied Research Associates, Inc.
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Point Cloud
The Future - Autonomy
 General Purpose Logging (future ops)
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As autonomy capabilities mature, semi-autonomous cutting
operations will take place.
Terrain Height Model
 What is needed:
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Addition of Sensor Packages
Maturation of Obstacle Detection/Avoidance algorithms
Maturation of GPS denied technologies
Tree marking technologies
 Where we are today:
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Sensor packages exist (LiDAR, Cameras, IMUs)
Obstacle detection and avoidance algorithms exist
Tree marking technologies exist
Terrain Roughness Model
 What is left to do:
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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 colocation of trees) and autonomous stacking (where, how
tall, how many)…
© 2015 Applied Research Associates, Inc.
Autonomy Package
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Questions and Comments
© 2015 Applied Research Associates, Inc.
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