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Extraction of timber is expensive, energy intensive, and potentially damaging to the forest soil. Machine development aims to mitigate risks for environmental impact and decrease energy consumption while maintaining or increasing cost efficiency. Development of rubber-tracked forwarders have gained renewed interest, partly due to climate change leading to unreliable weather, and the urgency of reducing emissions. The increased cost of rubber-tracks compared to wheels are believed to be compensated by higher driving speeds and larger payloads. Thus, the aim of this study was to theoretically investigate how productivity and cost efficiency of rubber-tracked forwarders can exceed that of wheeled equivalents. The calculations were made with fixed parameters, to evaluate performance in different conditions, and with parameters from 2 500 final felling stands in central Sweden, to evaluate performance in varied working conditions. Scenarios were compared to a baseline corresponding to mid-sized wheeled forwarders. The results show higher productivity with the increased driving speed and load weight enabled by rubber-tracks at all extraction distances, with larger differences at long extraction distances. Assuming 15% higher machine price for the rubber-tracked forwarder, increased speed and load weight lead to 40% cost reduction for 400 meters extraction distance. Furthermore, a rubber-tracked forwarder is likely to give access to a larger part of the harvest areas during longer seasons. The year-round accessible volumes are estimated to increase from 9% to 92% with a rubber-tracked forwarder. With rubber-tracks, good accessibility can be combined with low soil impact in a favourable way for both industry and ecosystem.

For customer-oriented wood supply, buffering is required for flexibility to handle interactions in the wood procurement system. This includes balancing lead-time and operational cost by using stocks and production capacity as buffers. Despite the well-known challenge to balance the interactions between harvesting and forwarding in Nordic mechaniced CTL-operations, there has been limited research on how the machine groups can be staffed to enable flexibility and more focus on other measures to create flexibility. Therefore, this study explored trade-offs between wood lead-time and harvesting cost in the stump-to-roadside part of the wood supply chain by altering the numer of full-time working operators in the harvesting groups. This was done using discrete-event simulations implemented in Anylogic software. Input data included information about operational conditions in 1500 forest stands. The results revealed that the best balance was to have sufficient harvesting capacity to adjust wood lead times at the expense of increased harvesting costs. Of the tested options, the best balance was achieved when staffing a two-machine group with three operators, and thereby allocating 50% of the used work-shifts to regulating the field wood stock between the two machines. This resulted in the shortest lead times and the smallest harvesting cost increase. Compared to the option with no flexibility for stock adjustment (4 operators), the average lead-time could be reduced to one tenth at a cost increase of 3.4%. These findings have the potential to improve decisions of how harvesting groups are staffed to balance specific objectives of desired lead times and costs, which migh prove to be a valuable addition to the already used measures to manage wood flow.

Validerad;2024;Nivå 2;2024-05-06 (signyg);Funder: Swedish Foundation for Strategic Environmental Research MISTRA (Mistra Digital Forest)

Designing an optimal machine trail network is a complex locational problem that requires an understanding of different machines’ operations and terrain features as well as the trade-offs between various objectives. With the overall goal to minimize the operational costs of the logging operation, this paper proposes a mathematical optimization model for the trail network design problem and a greedy heuristic method based on different randomized search scenarios aiming to find the optimal location of machine trails —with potential to reduce negative environmental impact. The network is designed so that all trees can be reached and adapted to how the machines can maneuver while considering the terrain elevation's influence. To examine the effectiveness and practical performance of the heuristic and the optimization model, it was applied in a case study on four harvest units with different topologies and shapes. The computational experiments show that the heuristic can generate solutions that outperform the solutions corresponding to conventional, manual designs within practical time limits for operational planning. Moreover, to highlight certain features of the heuristic and the parameter settings’ effect on its performance, we present an extensive computational sensitivity analysis.

Although most mechanized forestry work relies heavily on cranes for handling logs along the supply chain, there has been little research on how to improve cranes design. In addition, the available research has mainly focused on improving current designs, so there is a lack of application of modern methods for designing cranes with improved efficiency. This paper analyzes how a mechanical engineering design method, known as gravity compensation, can be used to make a new generation of highly energy efficient forestry cranes. To introduce this design approach, a standard forwarder crane with two booms is used as a model system on which to apply gravity compensation concepts. The design methodology follows a procedure based on physics and mathematical optimization, with the objective of minimizing the energy needed to move the crane by using gravity compensation via counterweights. To this end, we considered to minimize mechanical power, because this quantity relates to how fuel and hydraulic fluid are converted into mechanical motion. This analysis suggests that using gravity compensation could reduce energy consumption due to crane work by 27%, at the cost of increasing the crane total mass by 57%. Thus, the original crane mass of 559 kg increases to 879 kg after applying gravity compensation with counterweights. However, overall reductions in energy consumption would depend on both the crane work and the extraction distance. The greater the extraction distance, the lower the total savings. However, energy consumption savings of around 2% could be achieved even with an extraction distance of 1 km. From a design perspective, this study emphasized the need to consider gravity compensation in the design philosophy of forestry cranes, not only for its ability to minimize energy consumption, but also due to all the inherited properties it provides. This initial study concludes that designing cranes with a combination of gravity compensation concepts could yield a new gene

Operators of mobile machines within forestry work long hours in seated postures while being exposed to whole-body vibration (WBV) that is associated with pain in the lower back and neck. Still, little is known about the contribution from postural loads. In this study postural loads and shock-type WBV exposure on drivers operating a forwarder during terrain-like conditions was measured and quantified using inertial measurement units (IMUs). Five male drivers drove a forwarder repeatedly over standardized steel obstacles using a predefined speed and posture followed by driving over natural obstacles along a terrain course using a self-selected speed and posture. IMUs were affixed along the spine, on the back of the head of the driver and on the seat to detect orientation, velocity, and acceleration. The result shows that the methodology for measuring WBV and postural load with IMUs is feasible. Postural loads, expressed as range of motions (ROMs), when driving over a single standardized obstacle at a speed of 3.3 km/h were up to 21 degrees in the neck segments. Increasing vehicle speed and size of obstacles increased postural loads. The terrain course resulted in higher ROMs in all body segments compared to a standardized obstacle, a difference in sideway seat acceleration but no differences regarding angular velocities of the head. Mechanical shocks at the seat were prevalent but the action limit value was exceeded only for one driver. Postural loads remained small during all conditions indicating that the spine can remain stable during exposure to shock-type WBV of this nature.

Performing work for extended periods of time while using the lowest amount of resources is an important aspect for productivity in many industries. In forestry, the productivity of a forwarder is seen as the volume of material it can extract to a roadside landing in a certain amount of time, where the process of loading and unloading logs represents a large part of the work. During this process, the esnergy consumed by the machine is directly related to the speed of the crane. Thus, increasing productivity implies increasing the operating velocity of cranes. But according to current design of forestry cranes, this conversely leads to an undesired increase in consumption of resources (e.g. fuel). A second method is to alter the machine's design, such as rotating the log bunk. This article considers both methods through a simulation-based comparison aiming to evaluate the energy consumption of two crane-bunk systems when loading. The first simulation system considers a forestry crane with a fixed log bunk (forwarder-like crane). The second simulation system takes into account a forestry crane and a rotating log bunk (harwarder-like crane). The analysis presented considers the fundamental mathematics required to analyze the dynamics of forestry cranes and the principles required to plan energy-optimal motions. The simulation results show that energy savings of 43% to 61% can be obtained by determining energy-optimal motions and using a harwarder-like crane architecture.

Background: Lower back and neck pain is common among persons who drive vehicles in their profession. The vehicle occupants are exposed to whole-body vibration (WBV) that may include mechanical shocks which are believed to increase the likelihood of injury further. Mechanical shocks are especially generated when driving on rough terrain and may challenge drivers' postural equilibrium. Little is known about the contribution of postural load to injury risk and thus objective measurements are necessary. Purpose: The purpose of the study was to assess the feasibility of registering and analyzing seated postural load and shock-type WBV synchronously using inertial measurement units (IMUs) among drivers of forest machines during terrain-like conditions. Methods: Five male participants (18-34 years old) drove a forest machine 6 times over three different standardized steal obstacles along a gravel course using a predefined speed and posture. Participants then drove the same vehicle 3 times over natural obstacles along a terrain course using a self-selected speed and posture. Three IMUs were affixed along the spine (at S2, Th2 and C4) and one to the head of participants as well as one to the seat. Data from the IMUs regarding accelerations and orientation in sagittal, frontal and horizontal plane were then analyzed. Results: Postural load, expressed as the range of motions (ROMs) in the upper neck, lower neck, trunk and pelvis were less than 22° in all directions during maneuvers on the standardized course. The size of obstacle and the vehicle speed had significant effects on the ROMs. No significant differences between courses were evident regarding seat accelerations and angular velocities at the drivers head. The WBV analysis of the terrain course indicated that mechanical shocks were prevalent but exceeded the exposure action value for only one driver and not the exposure limit value according to health and safety requirements within the European Union (EU directive 2002

Size and spatial distribution of trees are important for forest stand growth, but the extent to which itmatters in thinning operations, in terms of wood production and stand economy, has rarely beendocumented. Here we investigate how the choice of spatial evenness and tree-size distribution ofresidual trees impacts wood production and stand economy. A spatially explicit individual-basedgrowth model was used, in conjunction with empirical cost functions for harvesting andforwarding, to calculate net production and net present value for different thinning operations inNorway spruce stands in Northern Sweden. The in silico thinning operations were defined by threevariables: (1) spatial evenness after thinning, (2) tree size preference for harvesting, and (3) basalarea reduction. We found that thinning that increases spatial evenness increases net productionand net present value by around 2.0%, compared to the worst case. When changing the spatialevenness in conjunction with size preference we could observe an improvement of the netproduction and net present value up to 8.0%. The magnitude of impact differed greatly betweenthe stands (from 1.7% to 8.0%) and was highest in the stand with the lowest stem density.

Ground-based mechanized forestry requires the traversal of terrain by heavy machines. The routes they take are often called machine trails, and are created by removing trees from the trail and placing the logs outside it. Designing an optimal machine trail network is a complex locational problem that requires understanding how forestry machines can operate on the terrain as well as the trade-offs between various economic and ecological aspects. Machine trail designs are currently created manually based on intuitive decisions about the importance, correlations, and effects of many potentially conflicting aspects. Badly designed machine trail networks could result in costly operations and adverse environmental impacts. Therefore, this study was conducted to develop a holistic optimization framework for machine trail network design. Key economic and ecological objectives involved in designing machine trail networks for mechanized cut-to-length operations are presented, along with strategies for simultaneously addressing multiple objectives while accounting for the physical capabilities of forestry machines, the impact of slope, and operating costs. Ways of quantitatively formulating and combining these different aspects are demonstrated, together with examples showing how the optimal network design changes in response to various inputs.

Farm tractor + trailers play a key role in wood transportation after forests are logged. Despite of the fact that a forwarder is a forestry vehicle that carries felled logs for shorter distances off the ground, tractors are still used in some forest areas of the world, such as the Hyrcanian forest in northern Iran. This study was conducted to investigate the possibility of using both the light forwarder and forestry trailer instead of a farm tractor + trailer in wood transportation. The optimal machine option for wood transportation is determined using goal programming model in the study area. In this paper, multi-objective goals (such as economic, operational, environmental and ergonomic) were considered. The results showed that considering only the economic goal, the contractor could save up to 44% in costs by purchasing and replacing a forestry trailer with a 2-wheel trailer attached to the farm tractor. In addition, considering various goals, a light forwarder could be selected as the optimal machine. Currently, the most important objectives of all forest contractors are to establish economic goals and reduce wood transportation costs. Since other goals, such as environmental and ergonomic, are also important; it is suggested that multi-objective approaches should use for planning.

STUDY DESIGN: Human volunteers were exposed experimentally to single-sided mechanical shocks (SSMS) and double-sided mechanical shocks (DSMS) while seated. OBJECTIVE: To describe and contrast seated postural reactions due to SSMS or DSMS in healthy male adults. SUMMARY OF BACKGROUND DATA: Mechanical shocks to the body, caused when driving on irregular terrain, are suggested to be hazardous to the spine and may be associated with the reported musculoskeletal pain of the back and neck among professional drivers. However, very little is known about the characteristics of seated postural reactions and the biomechanical effects caused by mechanical shocks. METHODS: Twenty healthy male subjects (18-43 years old) were exposed while seated to 5 SSMS and 15 DSMS in lateral directions. The second acceleration in the DSMS was in the opposite direction to the first acceleration and was either fast, medium or slow depending on the speed of direction change. Surface electromyography (EMG) was recorded in muscles of the upper neck, trapezius, erector spinae and external oblique while kinematics were recorded with inertial sensors placed at the neck, trunk and pelvis. Muscle activity was normalized to maximum voluntary contractions (MVC). RESULTS: The EMG amplitudes were significantly higher (0.6-1%; p < 0.001) for the fast DSMS compared to all other shocks. Range of motion (ROM) of the neck and trunk was greater during the DSMS compared to the SSMS. Evoked muscle activity was less than 2% MVC in the trapezius, less than 10% MVC in the erector spinae and upper neck while the activity exceeded 10% MVC in the external oblique muscles. CONCLUSION: Fast DSMS in lateral directions appear more demanding compared to SSMS, demonstrating augmented seated postural reactions. However, the present mechanical shocks employed did not seem to induce postural reactions with regard to ROM or muscle activity of a magnitude likely to cause musculoskeletal overload. LEVEL OF EVIDENCE: 4.

Exposure to whole body vibration (WBV) is a major concern in mechanized forestay work because its adverse effects may become exacerbated by repetitive hand and arm movements, and non neutral body postures. Moreover, shock-type vibrations have recently been suggested as a possible agent behind pains in the neck and shoulders of forest machine operators. Shocks have been identified in forwarders during loading, but the effects of crane work in forwarders have, to the best of our knowledge, not been studied. Thus, the aim of this study was to assess contributions of crane work elements, and potential effects of the use of three grapple and brake-link combinations, to vibration exposure levels in a small forwarder. Repeated measurements of cabin WBV were acquired, and work elements timed, as a single experienced operator forwarded wood piles on a standardized track in northern Sweden, using the same forwarder and work procedures with each grapple and brake-link combination. The studied crane equipment was found to have little or no effect on the daily WBV exposure. Furthermore, exposure to shock-type vibrations while loading appears to be due to driving rather than crane work. However, there were fewer collisions with remaining trees while using the tilt grapple with brake link, suggesting its use provides a more relaxed and comfortable work environment for forwarder operators and financial benefits for the forest owner by reducing damage in the remaining stand.

Background and objectives: Mechanical perturbations in seated positions caused by driving on irregular terrain destabilize the driver which, combined with the drivers’ posture, may cause musculoskeletal disorders. The aim of this study was to investigate adaptation and the effect of different head postures on seated postural reactions caused by perturbations. Materials and Methods: Twenty healthy male participants, aged 18-43 years, were tested on a movable platform delivering 15 sideways perturbations (peak acceleration 13.3 m/s2) while the participants held their head in a neutral or a laterally flexed posture. Surface electromyography (EMG) signals were recorded bilaterally in upper neck, trapezius, erector spinae and external oblique, while kinematics were recorded with inertial sensors for the head, trunk and pelvis. EMG amplitudes, muscle onset latencies and angular displacements in the frontal plane were analyzed. Results: In the neutral position, the EMG amplitudes and neck angular displacements significantly decreased by 0.2% and more than 1.6° respectively after repeated perturbations. Muscle onset latencies remained unchanged. During lateral flexion of the head, the EMG amplitudes decreased by 0.5% but the muscular onset latencies increased by more than 9 ms. Conclusion: The developed neuromuscular strategy seem to prefer a reduced EMG amplitude. The modest size of the postural reactions during the conditions presented here do not by themselves explain the musculoskeletal disorders found in drivers.

Modern harvesters are technologically sophisticated, with many useful features such as the ability to automatically measure stem diameters and lengths. This information is processed in real time to support value optimization when cutting stems into logs. It can also be transferred from the harvesters to centralized systems and used for wood supply management. Such information management systems have been available since the 1990s in Sweden and Finland, and are constantly being upgraded. However, data on the position of the harvester head relative to the machine are generally not recorded during harvesting. The routine acquisition and analysis of such data could offer several opportunities to improve forestry operations and related processes in the future. Here, we analyze the possible benefits of having this information, as well as the steps required to collect and process it. The benefits and drawbacks of different sensing technologies are discussed in terms of potential applications, accuracy and cost. We also present the results of preliminary testing using two of the proposed methods. Our analysis indicates that an improved scope for mapping and controlling machine movement is the main benefit that is directly related to the conduct of forestry operations. In addition, there are important indirect benefits relating to ecological mapping. Our analysis suggests that both of these benefits can be realized by measuring the angles of crane joints or the locations of crane segments and using the resulting information to compute the head's position. In keeping with our findings, two companies have recently introduced sensor equipped crane solutions.

Prolonged awkward sitting postures may be associated with neck or back pain, but it is often unclear which specific postures cause most problems and which mechanisms that may underlie the pain. In order to increase the knowledge in this field, it seems crucial first of all to be able to analyse, in depth, different seated spinal postures. A problem is however the lack of reliable and direct measurement methods of the posture, especially for sitting. Recently developed systems with inertial sensor attached along the spine have potential for this purpose. The aim of the present study was therefore to test the reliability of using such a system to assess various seated postures. Inter- and intra-tester as well as intra-subject relative reliability was estimated with intra-class correlation coefficient (ICC). Absolute reliability was estimated with standard error of measurement (SEM) and smallest detectable change (SDC). Ten + ten healthy subjects and four testers participated. Three standardised unsupported seated postures (lumbar lordosis, lumbar kyphosis and neutral posture) and two standing postures (neutral and lumbar kyphosis) were evaluated using five sensors attached to the head, the thorax (high and low), the lumbar spine and the pelvis. The ICC for intra-tester reliability ranged from 0.37 to 0.90, SEM 2.5-12.0 degrees, and SDC 7.1-333 degrees where the largest measurement error was from the head. Intra-tester reliability was higher than inter-tester reliability but not as good as intra-subject reliability. The intra-tester absolute reliability was nevertheless not considered sufficient to distinguish smaller differences. The low reliability may depend on inertial sensor size and attachment but also on the tester's accuracy. This study shows that assessing unsupported seated spinal postures with inertial sensors could be performed with higher reliability if done by the same, rather than different, testers. Relevance to industry: Prolonged awkward seated postur

Accurate vehicle localization in forest environments is still an unresolved problem. Global navigation satellite systems (GNSS) have well known limitations in dense forest, and have to be combined with for instance laser based SLAM algorithms to provide satisfying accuracy. Such algorithms typically require accurate detection of trees, and estimation of tree center locations in laser data. Both these operations depend on accurate estimations of tree trunk diameter. Diameter estimations are important also for several other forestry automation and remote sensing applications. This paper evaluates several existing algorithms for diameter estimation using 2D laser scanner data. Enhanced algorithms, compensating for beam width and using multiple scans, were also developed and evaluated. The best existing algorithms overestimated tree trunk diameter by ca. 40%. Our enhanced algorithms, compensating for laser beam width, reduced this error to less than 12%.