Bart Milne

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This paper outlines the design of a novel teleoperated robotic system that is proposed for the felling process of Pinus Radiata on steep terrain. The system uses arboreal locomotion similar to that used by monkeys for the method of traversal between trees which has not been used in this manner previously. Machine vision for tree recognition and optimal path(More)
Robotisation of forestry harvesting in New Zealand has the potential to achieve great productivity benefits and support the timber industry in the face of global market competition. Recognition and localization of tree trunks is the first critical operation for an autonomous forestry harvesting robot and is a challenging task due to variations of(More)
Haptic feedback has two important sources of dynamics: the machine being controlled and the haptic device itself. This paper concentrates on the means of identifying the dynamics of a Phantom Omni haptic feedback device. Two models are compared: a dynamic model with parameters using results from sinusoidal steady state analysis and a data driven model that(More)
This paper proposes a minimal model of a pressure compensated hydraulic system driven by a constant displacement pump developed from sets of equations describing hydraulic fluid flows and pressures. The transfer characteristics of these equations are used to develop a 2nd order Ordinary Differential Equation (ODE), which may be considered linear time(More)
To successfully fell a tree, semi-autonomous robotic devices must be capable of identifying the position, size and orientation of trees in the environment of a plantation forest. An approach is proposed to identify the aforementioned tree properties using data gathered from a Light Detection And Ranging (LiDAR) scanner. Trees are detected from the gathered(More)
Combining teleoperation and haptic feedback is a challenging task. Haptic feedback makes a teleoperation system bilateral, introducing sensitivity to communication system delays. Delays are a common cause of control system instability, but with haptic feedback another source of instability is introduced due to the interaction between force and velocity(More)
Mechanization of forestry harvesting has significant and proven cost, productivity and safety benefits. However, safety concerns mean conventional mechanised harvesting cannot be used in steep terrain (>22° slope) in New Zealand. This means that manual harvesting must still be used in the most dangerous conditions. This paper outlines a(More)
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