ABSTRACT This study uses a full scale cut to length forwarder prototype to explore crane log handling during teleoperation (remote-control). Visual feedback is provided from stereo cameras into a VR headset. Details of the system are provided along with measurements on key properties. The system allows for an artificial latency (the delay between a command and the observed response) to be introduced. A setup to allow repeated crane operations is used to evaluate operator performance at different latencies and also to compare teleoperation with in-machine operation. The results indicate that teleoperation of crane log handling can achieve comparable performance to traditional in-machine operation. Notably, the performance is consistent even at transmission latencies that surpass those expected in 4 G internet connections. This suggests a potential for remotely operating forwarders from both on-site and potentially off-site locations. This research did not delve into actual forwarding work or the implications of wireless connection bandwidth or alternative technologies like Wi-Fi or 5 G. Future investigations should consider these factors, along with the requirement for enhanced camera systems to ensure holistic machine visibility and consequently, safe teleoperation.
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