This document summarizes the progress of various tasks under Work Package 3 of the Project SLOPE, which aims to integrate novel intelligent harvesting systems operating in mountain areas. Task 3.1 on intelligent tree marking has tested RFID tags on trees and developed a roadmap for the tagging process. Equipment for tagging and reading tags is available but the GPS capacity may need improvement. Task 3.2 on processor head selection has defined requirements, requested offers from manufacturers, and selected a model, but the processor head has not yet been purchased. Re-engineering work is planned. Task 3.5 on intelligent transport trucks is adding RFID reading, GPS, and data transmission capabilities to trucks to track timber and optimize

1. Project SLOPE
AnnualMeeting
19/Jan/2015
WP 3 – Integration of novel intelligent
harvesting systems operating in mountain
areas (hardware development)

2. Task 3.1 (former tasks 3.1 and 3.2)
AnnualMeeting
19/Jan/2015
 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 tag
reader/programmer, for equipping foresters and forest workers. [month 17]
•D3.02) RFID tag test: Report on field test results for portable equipment
performance 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]

3. 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 be
performed by CNR and BOKU with the support of ITENE. Test
plan ready shortly, planned for February.
AnnualMeeting
19/Jan/2015

4. Task 3.1 – RFID tag prototype
88 mm
30 mm
In the back of the label
Insert
until hereId: 0000 0000 0000 0001
120 mm
30 mm
24 mm
RFID UHF Gen2 Label.
Id already written in the chip
when purchased
Printed Id to visually check
Mark to indicate that the label
shouldbe introduced between
the tree and the bark untis it
reaches this line
Mark to indicate where to put
the staple
Datamatrix code to also code
the Id90 mm
AnnualMeeting
19/Jan/2015
RFID LABEL DESIGN FOR USE IN SLOPE
PROJECT

5. Task 3.1 – RFID tag positionig
AnnualMeeting
19/Jan/2015

6. T 3.1Tag position
Importance:
Survival rate of different positions/models (to
be tested in spring with the Sover harvest
operations)
Readibility of the tags and position of
antennas on the machines (linked to T 3.4)
that shall be known in advance (February’s
tags’ laboratory test will provide part of the
answers)
Kick-off Meeting
8-9/jan/2014

7. Task 3.1 – equipment selection
Handheld RFID UHF tag reader
R1240I – qID
ISO 18000-6C/EPC C1G2
8 levels of RF power
Read range – up to 1.5 m
Bluetooth – USB interface
IP54
AnnualMeeting
19/Jan/2015
R1170I – qID mini
Read range – up to 0.5
Bluetooth – USB interface
IP54

8. Task 3.1 -Tools for foresters
Positioning-interface
two options:
Lower cost – android
tablet, external
bluetooth gps antenna
Higher cost – Leica
Geosystem
topographic GPS and
all weather tablet
(P67)
AnnualMeeting
19/Jan/2015

9. Task 3.1 -Tools for foresters
AnnualMeeting
19/Jan/2015

10. T 3.1 Intelligent felling-hauling
AnnualMeeting
19/Jan/2015

11. T 3.1 Intelligent felling-hauling
AnnualMeeting
19/Jan/2015
In the simplified database the tags may be
related to bucking suggestions.
MHG responsible of data management.
The interface shall be as simple as possible,
but the operator must be able to interact with
the data.
Example of possible bucking
suggestions from Autostem
ID 24000052
35
DBH (cm) 42 Height (m) 23
Assortment As1 As2 As3 As4 TOP
Length 440 330 440 500 610
Suggestion_1 770 1550
Suggestion_2 1210 1110
Suggestion_2 1710 610

12. T 3.1 Intelligent felling-hauling
AnnualMeeting
19/Jan/2015

13. T 3.1 future work
AnnualMeeting
19/Jan/2015
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 or
M16. CNR, BOKU and GRE

14. T 3.1
THANKS!
GRAZIE!
AnnualMeeting
19/Jan/2015

15. Work Package 3 – Task 3.2
Processor head selection, purchase
and re-engineering of the SLOPE
system components
TechnicalMeeting
19-21 January 2015
Presented by task leader: Compolab
WP leader: Graifenberg

16. Presentation index
Processor head selection
Processor head purchase
Re-engineeringof the
SLOPE system component
Conclusion
Main and additional features
Processor technology
Offer requests
Selected models
Mechanical 3D modelling
Hydraulic devices and schemes
Electronic devices and schemes
Control software
TechnicalMeeting
19-21 January 2015

17. Processor head selection
Main and additional features
Crosscutting capacity
Debranching capacity
Requested prime mover
Diameter and length measurement
Access to technical documents
min. 40 cm
min. 35cm
max. 10 ÷ 12 ton
mechanical drawings
hydraulic system schematic
electrical system schematic
hardware and control software
TechnicalMeeting
19-21 January 2015

18. Processor head selection
Processor 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
TechnicalMeeting
19-21 January 2015

19. Processor head selection
Offer requests
Offer requests have
been sent to the following
manufacturer
• Lako
• Logset
• Silvatec
• Konrad
• Keto
• Log Max
• Tapio
• Arbro
Simple structures,lowrequest of power and necessity of smaller
primemover,suggest stroke processor as more suitable for
SLOPEpurposes.
Furthermoreit looks easier to extract branch parameter, working
on variation of pressure on the stroke hydraulic cylinder
TechnicalMeeting
19-21 January 2015

20. Processor head selection
TechnicalMeeting
19-21 January 2015

21. Processor head selection
Selected models
In order to fulfil the
requirements of 60 cm log
diameters a bigger version
of ARBRO 1000 model is
foreseen to be developed
TechnicalMeeting
19-21 January 2015
ARBRO1000S
Weight [kg] 500
Maximumopening of delimbing knives [mm] 450
Numberof delimbing knives 4(3 + 1 fixed)
Feed force [kN] 35
Oil flowrequest [l/min] 80 ÷120
Nominal oil pressure [bar] 180
Delimbing speed [m/s] 0,3 ÷0,5
Primemover weight [ton] 8 ÷12
Stroke[mm] 660

22. Processor head purchase
Purchase of the selected processoris not yet done
Delivery of the purchased processor head is foreseen
within 60 days starting from order confirmation
TechnicalMeeting
19-21 January 2015

23. Re-engineeringof the SLOPE system
component
Mechanical 3D modelling
Reconstruction of a 3D model of the
whole processor head and related
parts of prime mover
Design of a virtual model of the
new intelligent processor head
Design of thereal model of the new
intelligent processor head
It should be done from2D drawings if
provided by manufactureror by reverse
engineeringonthe physical processor
head
All sensors used for quality index
definition (WP4)in lab environmentwill
be assembled in the virtual3D model
Results from WP4on quality index will
suggest the more suitable sensors
configuration for the new intelligent
processor head
TechnicalMeeting
19-21 January 2015

24. Re-engineeringof the SLOPE system
component
Hydraulic devices and schemes
Reconstruction of the schemes of the
hydraulic systems:
• of head processor itself
• of the part of prime mover directly
connected withthe processor head
Hydraulic design of novel sub-circuits for
auxiliary hydraulic actuators
TechnicalMeeting
19-21 January 2015

25. Re-engineeringof the SLOPE system
component
Electronic devices and schemes
Reconstruction of the schemes of the
electronic systems:
• electrovalves of processor head it
self
• electrovalves of prime mover
directly connected with the
processor head
Electronic design of novel sub-circuits for:
• auxiliary DC actuators
• pressure sensors
• encoder
• accelerometers
• electric power supply
• acoustic sensors
• load cells
• cameras
TechnicalMeeting
19-21 January 2015

26. Conclusion
Processor head main feature definition
Manufacturer analysis
Processor head selected
100% fulfilment
Offer request to manufacturer
Lack of amendment
No contract for processor head purchase signed
No processor head available
50% fulfilment
Planning of re-engineering activitiesfor:
mechanical model
hydraulic circuits
electrical and electronic circuits
5% fulfilment
TechnicalMeeting
19-21 January 2015

27. Technical Meeting:WP 3
Integration of novel intelligent harvesting systems
operating in mountain areas
In plain words...to make machines work well.

28. Day 1 afternoon
I will present the information and notes prepared by Diego CEO of the
company and WP 3 leader.
Later on he will then provide his contribution describing task 3.3

29. According to the agenda of the
meeting

30. Parallel sessions will help to finalize some still open issues related to
the Amendment notes

31. Time frame
Tasks Deliverable Deliverabl
e deadline
Deliverabl
e Name
3.1 CNR D3.01 17 Portable RFID tag
reader/programme
r
3.2 COMPOLAB D3.02 17 ? Processor
selection, etc..?
3.3 GRE D3.03 21 Intelligent cable
crane carriage
3.4 COMPOLAB D3.04 23 ? Intelligen
t
processo
r
3.5 ITENE D3.05 24 Intelligent truck
3.6 MHG D3.06 25 Data
management
back up?

32. Deliverables

33. Road Map:the start

34. Overall progress of tasks
Now i will report the information gathered from the other partners involved
in the WP.
Each task leader will then be more complete and detailed.

35. 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 felling
and hauling" would be under the lead of GRE.
Actually T3.2 is,according to the today's agenda and to
Amendment proposal under the lead of Compolab.
In spite of this, for simplicity and for the synergies we found
in our activity, Gianni suggested to merge since the
beginning the two activities, as proposed in the amendment.

36. Task 3.1- so far....
CNR has carried out what follows:
CNR tested several RFID tags as proposed (and provided) by
the partner ITENE. Gianni has prepared a file "Marked trees"
which reports a brief description of the activity, the type
and number of tags placed and the plan.

37. Task 3.1
The forest parcel was supposed to be harvested in November-
December, but the private company decided otherwise, thus
CNR could not test the survival rate of the different tags at the
hauling process.
CNR also produced, mostly in cooperation with the partners
ITENE and TREE a roadmap of the activity to be done, and the
processes and interfaces to be developed. This part is on going.

38. Task 3.1
The equipment for the intelligent tree marking is basically
available (TREE is developing the software interface among
the tag reader and the tablet).
The same can be stated for the operator taking care of felling
and hauling.

39. Task 3.1
Nevertheless CNR would prefer to test different hardware, if
possible. Their main concern is that the GPS capacity of the
equipment so far considered is not always effective under our
work conditions, limiting the actual operational capacity.

40. Task 3.1
Today meeting will be an occasion for discussing together
possible solutions or integrations to be explored.

41. Task 3.2 and 3.4
In this parts I will report the information Compolab
shared with me. They will be more detailed later.

42. Task 3.2 - Summary
Head processor main feature definition
Manufacturer analysis
Head processor selected
100% fulfilment
Offer request to manufacturer
Lack of amendment
No contract for head processor purchase signed
No head processor available
50% fulfilment
Planning of re-engineering activities for:
mechanical model
hydraulic circuits
electrical and electronic circuits
5% fulfilment

43. Task 3.4 - Summary
Laboratory scanner sensors selection
Electronic hardware definition
Structure definition
70,25% fulfilment
Intelligent head processor design
• sensor position:support and protective carter
• sensors actuators
• cabling
5,8% fulfilment
Electronics:
CompactRIO modules definition
Industrial PC
power management
52,4% fulfilment

44. Task 3.5 IntelligentTransportTruck
Task 3.5 – Intelligent transport truck
Task leader: ITENE; Participants: CNR, MHG, BOKU
It started in Month 12, December 2014
It will end in Month 24 December 2015
This task will take care of adding intelligence to trucks and
transport vehicles to move timber and biomass between the processing area
and the end users and/or the storage areas.
These vehicles will be able to communicate their position, their weight and the fuel
consumption through a satellite/GPRS connection, allowing the detection of their
location in real-time situations (MGH, BOKU, ITENE).
This data will be used to optimize routes and analyse the truck load status
by mean of the ERP platform.

45. Task 3.5
Furthermore the trucks will be capable of reading the RFID tags of the
timber loaded, providing a comprehensive information about the load
quality, quantity and origin: valuable information for traceability, trading
and planning (CNR, ITENE). Thanks to this, full traceability of timber and
wood production will be implemented.
To accomplish this, a smart device will be developed and introduced in
trucks, with the following capabilities:
•RFID reader/antennas integrated within the truck. Typical RFID readers
could 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

46. Task 3.6
Task 3.6 - Data management back-up
Task leader: MHG; Participants: GRE, CNR,"...........", ITENE
It will start in Month 14 February 2014
It will end in Month 25 December 2015
In this task a local data exchange system will be designed for the
interaction of the machines involved also in areas with no GPRS/UMTS
coverage.

47. Task 3.6
Task 3.6 - Data management back-up
To progress with this task, the partners have to define the tx/rx devices
according to the single machine development of the specific system.
After the parallel session many issues will be defined to start with safe
and clear information.

48. 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 with
the original project or can not be reliable for that duty.
We will supervise the supply chain and provide feasibility.

49. Criticalities
Other troubles can occur when more machines (this is our case) must work
together, the reason way is the compatibility between different hardware or
the software done by several partners and without interaction or with no
compatible working mode.

50. Recommendations
To proceed with works effectively, communication among partners is
of paramount importance.
When you make a choice about a component it is very important to
consider the application range and pay attention about the IP and the
vibration limits on the data sheet.
In each choice about the solutions we must pay attention to the
indications and the needs of the project

51. Recommendations
Furthermore, informations on machines and equipment
developed in WP 3 will timely be conveyed to pilot activities
leader.
Head processor, excavator, carriage, truck technical features are the criteria
to follow to plan pilots.
For example, data that need to be considered are:
Max diameter of the timber
Max capacity of machines and equipment(weights)
Type of truck (2x4, 4x4, 2x6)
Another important feature to share is the criteria to choose the suitable pilot
area ( coverage, repeaters, high voltage electric lines,etc... that might
interfere with machines.)

52. Recommendations
On testing site, operators should have the requested skills to work with
the equipment for effectiveness and safety reasons.
Training and education planned activities are compulsory in the
traditional logging, exploitation areas as well as in the technical service
ones for the use on new equipment.

53. Task 3.3 intelligent cable crane

54. Task 3.3 intelligent cable crane
TECNO Carriage
Remotely controlled and
programmable Chockers
Synthetic Rope Launcher

55. Task 3.3TECNO CARRIAGE
Technical drawings and projects for
the floating system of the lifting winch of the carriage
have been developed and evaluated

56. TECNO will be developed together the processor head.
The main frame is ready but the devices
will be mounted after a general
agreement with the involved partner in this task.
The important modifications that TECNO
will have, need several testing activities to check the
right functioning.
We have reached and agreement with a forestry
harvesting company to test the carriage before our
pilots and first trials with the other partners.
Task 3.3TECNO CARRIAGE

57. TECNO carriage is an automatic and self
propelled carriage. It can move up and down
the line by itself.
It is enough to put in data to memorize the
line and then it works as an intelligent
carriage.
These features allows a faster,safer and more
effective harvesting works.
Task 3.3TECNO CARRIAGE

58. Furthermore, for our Slope project, TECNO will also be
able to:
Check the weight of the timber
Read the tags
Check the presence of operators below the line
Open automatically the electronic chockers
Interact with the processor head and with the server and
the black box
Storage data in its memory card
Transmit the current situation, such as position, working
speed, fuel consumption
Task 3.3TECNO CARRIAGE

59. Task 3.3 CHOCKERS
technical drawings and projects for the
chockers / carriage have been elaborated and
assessed

60. Task 3.3 CHOCKERS
Furthermore, we have been paying attention to safety
issues related to their use.
In particular, we have checked the feasibility of a double
safety control against accidental opening and for
Automatic closing check
Double way receiver to send and receive current state
information to the carriage.
No dangerous parts for fingers
Long operative distance and long duration for battery
before recharge.
Small shape and light weight

61. Task 3.3 ROPELAUNCHER
The rope launcher design and project is now ready for
the start up of manufacturing and testing activities

62. Task 3.3 ROPELAUNCHER
Some Technical features finalized so far....
1,5 kg of launched material
7 mm diameter high resistance rope
800 mt operative launching distance
1,8 ton recovery winch capacity
PLC to calculate azimut, tilt inclination and air pressure
GPS coordinates
Auto regulation and orientation

63. 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

64. Thank you.

65. Work Package 3 – Task 3.4
Intelligent processor head
Presented by: Compolab
WP leader: Graifenberg

66. Presentation index
Laboratory scanner
Intelligent processor
head design
Electronic design
Low level control
software Conclusion
Electronic structure
Sensor position
Sensor actuators
CompactRIO modules definition
Industrial PC
Power management
TechnicalMeeting
19-21 January 2015

67. Laboratory scanner
Electronic structure
Sensors
CompactRIO
Cameras
Industrial PC
quality index elaboration
forest information DB
Head processor
controller
Sensor’s actuators
control
RFID positionerRFID antenna
Communication

68. Intelligent processor head design
Sensor position
Other sensors:
camerason the stem
of the head processor
Pressure sensors
(delimbing forces)
TechnicalMeeting
19-21 January 2015
Load cells, microphones,
pressure sensors on each
blade
(delimbing forces)
1 axis accelerometer +
3 axis accelerometer
(wood mechanical properties)
Scan bar: encoder,
NIRcamera, camera,
microphones, LEDs
(wood properties)
RFIDantenna
Pressure sensor
(cutting forces)

69. Intelligent processor head design
Sensor actuators
RFIDpositioner
Scan bar cleaner
(compressed air)
Scan bar actuator:
24 V DC brushless with
reduction stagegearbox,
stress wave generator
Stress wavegenerator,
Actuationsystem for
accelerometer placement
and removal
TechnicalMeeting
19-21 January 2015

70. Electronic devices
Electronic devices
CompactRIO
CRIO-9081:HighPerformanceIntegratedSystem,8-Slot,LX75, RT
NI 9205: 32-Channel±10 V, 250 kS/s, 16-BitAnalogInputMod
NI 9203: ScrewTerm, +/-20mA,16-Bit,200kS/s, 8-ChAIMod
NI 9234: 4 Input, 24-Bit,51.2kS/s, SW SelectableIEPE&AC/D
NI 9421: ScrewTerm,24 V, 100 μs, 8-ChSinkingDI Module
NI 9375: 16-chDI, 16-chDO, DI/DO CSeriesModule
NI 9472: 8-Ch24 V, 100us, SourcingDO Module
NI 9882:1-PortDeviceNet C Series Module
(to be defined)
ule
ule
C
+ Industrial PC

71. Electronic devices
Electronic devices
Industrial PC
not yet defined
fan less
solid state memory

72. Electronic devices
Power management
Main energy source
Filtering stage
Voltage conditioning
(buck converters)
Distribution
Uninterruptible
power supply
Voltage provideddirectly
by alternator isnotsuitable for
electronicdevicesandsensors
Provide correctpower supplyfor:
CompactRio,industrialPC,
sensors, actuators, antenna

73. Low level control software
Low level control software
Arbro provides its processors head withcustomized 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 the
development of a more complex control software that merge
results from quality index algorithms (WP4) and low level control

74. Conclusion
Intelligent processor head design 5% fulfilment
Electronic design 30% fulfilment
Low level control software 0% fulfilment
TechnicalMeeting
19-21 January 2015

75. Project SLOPE 1
T 3.5 - Intelligent transport truck
San Michele all’Adige, January 19th, 2015

76. Scope 2
This task aims to:
Addintelligence to transport trucks
Technologies that will be implemented
RFID
GPS positioning
GPRS / UMTS…
To be developed from M12 to M24
Includes development of “D3.05 Intelligent Truck”
Partners involved:
ITENE (leader), CNR, MHG, BOKU