A soft unmanned underwater vehicle with augmented thrust capability

The components which could make Soft Unmanned Underwater Vehicles a winning technology for a range of marine operations are addressed: these include vortex-enhanced thrust, added mass recovery and high degree of compliance of the vehicle. Based on these design criteria and recent advancement in soft-bodied, pulsed-jet thrusters, a new underwater vehicle is developed and tested

A general method for the design and fabrication of shape memory alloy active spring actuators

Shape memory alloys have been widely proposed as actuators, in fields such as robotics, biomimetics and microsystems: in particular spring actuators are the most widely used, due to their simplicity of fabrication. The aim of this paper is to provide a general model and the techniques for fabricating SMA spring actuators. All the steps of the design process are described: a mechanical model to optimize the mechanical characteristic for a given requirement of force and available space, and a thermal model for the estimation of the electrical power needed for activation. The parameters of both models are obtained by experimental measurements, which are described in the paper. The models are then validated on springs manufactured manually, showing also the fabrication process. The design method is valid for the dimensioning of SMA springs, independently from the external ambient conditions. The influence on the actuator bandwidth was investigated for different working environments, providing numerical indications for the utilization in underwater applications. The spring characteristics can be calculated by the mechanical model with an accuracy of 5%. The thermal model allows one to calculate the current needed for activation under different ambient conditions, in order to guarantee activation in the specific loading conditions. Moreover, two solutions were found to reduce the power consumption by more than 40% without a dramatic reduction of bandwidth

PoseiDRONE: design of a soft-bodied ROV with crawling, swimming and manipulation ability

The design concept and development of a multi-purpose, underwater robot is presented. The final robot consists of a continuum composed for 80% of its volume of rubber-like materials and it combines locomotion (i.e. crawling and swimming) and manipulation capabilities. A first prototype of the robot is illustrated based on the integration of existing prototypes

PoseiDRONE: design of a soft-bodied ROV with crawling, swimming and manipulation ability

The design concept and development of a multi-purpose, underwater robot is presented. The final robot consists of a continuum composed for 80% of its volume of rubber-like materials and it combines locomotion (i.e. crawling and swimming) and manipulation capabilities. A first prototype of the robot is illustrated based on the integration of existing prototypes

A Methodological Approach Exploiting Modern Techniques for Forest Road Network Planning

A well-developed road network allows all forest activities, including wood harvesting, firefighting and recreational activities. However, forest road construction and maintenance involve economic and environmental costs. For these reasons, forest road network planning is a fundamental phase of forest management, maximising the benefits and reducing costs and impacts. Thanks to modern technologies in data collection both for terrestrial and forest characteristics, new methods and tools have been developed to improve and facilitate road planning. The aim of this study was the development of a Decision Support System for helping managers during forest road network planning, exploiting Multi-Criteria Analysis, an Analytic Hierarchy Process and Geographic Information Systems. Three steps characterised the study: Þ an in-depth survey of the existing forest road network Þ an accessibility evaluation, based on a commonly applied Italian definition, taking into account the morphological characteristics of the land Þ an estimation of the accessibility requirements through the analysis of experts’ opinions, defined as Road Needs Index, based on different factors These phases were applied to a forest property located in northern Italy, and some improvements were proposed simulating a manager’s approach during planning. The results showed interesting features in accessibility evaluation, which identified three different classes of accessibility, represented in a map. The estimation of Road Needs Index assigned a class regarding road requirements to each forest management unit: »low«, »medium«, »high« and »very high«. This information was merged, becoming a useful tool to identify the forest areas with the highest problems in relation to the forest road network

Strategies to Mitigate the Effects of Soil Physical Disturbances Caused by Forest Machinery: a Comprehensive Review

Purpose of Review Ground-based mechanized forest operations can cause severe soil disturbances that are often long lasting and detrimental to the health of forested ecosystems. To reduce these soil disturbances, focus is being increasingly directed at identifying and using appropriate mitigation techniques. This systematic review considered 104 scientific articles and reported the main findings according to four core themes: terrain-related factors, operational planning, machine modifications, and types of amendments used to mitigate machine-induced soil impacts. Recent Findings For terrain-related factors, most severe disturbances occur on machine operating trails exceeding 20% slope and that soil bulk density and rut depth show greater increases in fine-textured soils. When considering operational planning, trafficability maps proved to be helpful in reducing the frequency and magnitude of soil damages as well as the length of trails needed within harvest sites, especially if they are regularly updated with weather information. Machine modifications, through high flotation tires, use of extra bogie axle, lower inflation pressure, and use of steel flexibles tracks, are highly researched topics because of the considerable upside in terms of machine ground pressure distribution and increased traction. Two main types of amendments emerged to mitigate soil disturbances: brush mats and mulch cover. Brush mats created from harvesting debris can spread the load of a machine to a greater area thereby lowering peak loads transferred to the soil. Brush mats of 15-20 kg m(-2) are being recommended for adequate soil protection from harvesting operations. To conclude, we outline recommendations and strategies on the use of soil mitigation techniques within cut-to-length forest operations. New research opportunities are also identified and discussed. Considering single factors causing machine-induced soil disturbances remains important but there is a pressing need for having a multi-disciplinary approach to tackle the complex problems associated with machine/soil/plant interactions

Determining Noise and Vibration Exposure in Conifer Cross-Cutting Operations by Using Li-Ion Batteries and Electric Chainsaws

In many activities, chainsaw users are exposed to the risk of injuries and several other hazard factors that may cause health problems. In fact, environmental and working conditions when using chainsaws result in workers’ exposure to hazards such as noise, vibration, exhaust gases, and wood dust. Repeated or continuous exposure to these unfavourable conditions can lead to occupational diseases that become apparent after a certain period of time has elapsed. Since the use of electric tools is increasing in forestry, the present research aims to evaluate the noise and vibration exposure caused by four models of electric chainsaws (Stihl MSA160T, Stihl MSA200C Li-Ion battery powered and Stihl MSE180C, Stihl MSE220C wired) during cross-cutting. Values measured on the Stihl MSA160T chainsaw (Li-Ion battery) showed similar vibration levels on both right and left handles (0.9–1.0 m s−2, respectively) and so did the other battery-powered chainsaw, the Stihl MSA200C (2.2–2.3 m s−2 for right and left handles, respectively). Results showed a range of noise included between 81 and 90 dB(A) for the analysed chainsaws. In conclusion, the vibrations and noise were lower for the battery chainsaws than the wired ones, but, in general, all the values were lower than those measured in previous studies of endothermic chainsaws