<ddi:DDIInstance xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:schemaLocation="ddi:instance:3_3 http://ddialliance.org/Specification/DDI-Lifecycle/3.3/XMLSchema/instance.xsd" xmlns:xsd="http://www.w3.org/2001/XMLSchema" xmlns:ddi="ddi:instance:3_3" xmlns:r="ddi:reusable:3_3" xmlns:s="ddi:studyunit:3_3" xmlns:d="ddi:datacollection:3_3" xmlns:a="ddi:archive:3_3" xmlns:c="ddi:conceptualcomponent:3_3" xmlns:cm="ddi:comparative:3_3" xmlns:g="ddi:group:3_3" xmlns:l="ddi:logicalproduct:3_3" xmlns:p="ddi:physicaldataproduct:3_3" xmlns:pi="ddi:physicalinstance:3_3" xmlns:dc="http://purl.org/dc/elements/1.1/" xmlns:xhtml="http://www.w3.org/1999/xhtml" xmlns:xml="http://www.w3.org/XML/1998/namespace" isMaintainable="true" scopeOfUniqueness="Agency">
  <r:URN>urn:ddi:se.researchdata:2025-283:1</r:URN>
  <r:Agency>SND</r:Agency>
  <r:ID>2025-283</r:ID>
  <r:Version>1</r:Version>
  <g:ResourcePackage>
    <r:URN>urn:ddi:se.researchdata:2025-283.ResourcePackage:2.0</r:URN>
    <r:OtherMaterialScheme>
      <r:URN>urn:ddi:se.researchdata:2025-283.OtherMaterialScheme:2.0</r:URN>
    </r:OtherMaterialScheme>
    <a:OrganizationScheme>
      <r:URN>urn:ddi:se.researchdata:2025-283.OrganizationScheme-0:2.0</r:URN>
      <a:Individual>
        <r:URN>urn:ddi:se.researchdata:2025-283.Individual-0:2.0</r:URN>
        <r:UserAttributePair>
          <r:AttributeKey>affiliation</r:AttributeKey>
          <r:AttributeValue>Umeå University</r:AttributeValue>
        </r:UserAttributePair>
        <a:IndividualIdentification>
          <a:IndividualName>
            <a:FirstGiven>Mikael</a:FirstGiven>
            <a:LastFamily>Lundbäck</a:LastFamily>
            <a:FullName>
              <r:String>Mikael Lundbäck</r:String>
            </a:FullName>
          </a:IndividualName>
          <a:ResearcherID>
            <a:TypeOfID>ORCID</a:TypeOfID>
            <a:ResearcherIdentification>0000-0002-1842-7032</a:ResearcherIdentification>
          </a:ResearcherID>
        </a:IndividualIdentification>
      </a:Individual>
      <a:Individual>
        <r:URN>urn:ddi:se.researchdata:2025-283.Individual-0:2.0</r:URN>
        <r:UserAttributePair>
          <r:AttributeKey>affiliation</r:AttributeKey>
          <r:AttributeValue>Umeå University</r:AttributeValue>
        </r:UserAttributePair>
        <a:IndividualIdentification>
          <a:IndividualName>
            <a:FirstGiven>Erik</a:FirstGiven>
            <a:LastFamily>Wallin</a:LastFamily>
            <a:FullName>
              <r:String>Erik Wallin</r:String>
            </a:FullName>
          </a:IndividualName>
          <a:ResearcherID>
            <a:TypeOfID>ORCID</a:TypeOfID>
            <a:ResearcherIdentification>0000-0001-6266-4740</a:ResearcherIdentification>
          </a:ResearcherID>
        </a:IndividualIdentification>
      </a:Individual>
      <a:Individual>
        <r:URN>urn:ddi:se.researchdata:2025-283.Individual-0:2.0</r:URN>
        <r:UserAttributePair>
          <r:AttributeKey>affiliation</r:AttributeKey>
          <r:AttributeValue>Swedish University of Agricultural Sciences</r:AttributeValue>
        </r:UserAttributePair>
        <a:IndividualIdentification>
          <a:IndividualName>
            <a:FirstGiven>Carola</a:FirstGiven>
            <a:LastFamily>Häggström</a:LastFamily>
            <a:FullName>
              <r:String>Carola Häggström</r:String>
            </a:FullName>
          </a:IndividualName>
          <a:ResearcherID>
            <a:TypeOfID>ORCID</a:TypeOfID>
            <a:ResearcherIdentification>0000-0002-6351-4469</a:ResearcherIdentification>
          </a:ResearcherID>
        </a:IndividualIdentification>
      </a:Individual>
      <a:Individual>
        <r:URN>urn:ddi:se.researchdata:2025-283.Individual-0:2.0</r:URN>
        <r:UserAttributePair>
          <r:AttributeKey>affiliation</r:AttributeKey>
          <r:AttributeValue>Komatsu Forest</r:AttributeValue>
        </r:UserAttributePair>
        <a:IndividualIdentification>
          <a:IndividualName>
            <a:FirstGiven>Mattias</a:FirstGiven>
            <a:LastFamily>Nyström</a:LastFamily>
            <a:FullName>
              <r:String>Mattias Nyström</r:String>
            </a:FullName>
          </a:IndividualName>
          <a:ResearcherID>
            <a:TypeOfID>ORCID</a:TypeOfID>
            <a:ResearcherIdentification>0000-0002-5872-6862</a:ResearcherIdentification>
          </a:ResearcherID>
        </a:IndividualIdentification>
      </a:Individual>
      <a:Individual>
        <r:URN>urn:ddi:se.researchdata:2025-283.Individual-0:2.0</r:URN>
        <r:UserAttributePair>
          <r:AttributeKey>affiliation</r:AttributeKey>
          <r:AttributeValue>Komatsu Forest</r:AttributeValue>
        </r:UserAttributePair>
        <a:IndividualIdentification>
          <a:IndividualName>
            <a:FirstGiven>Andreas</a:FirstGiven>
            <a:LastFamily>Grönlund</a:LastFamily>
            <a:FullName>
              <r:String>Andreas Grönlund</r:String>
            </a:FullName>
          </a:IndividualName>
          <a:ResearcherID>
            <a:TypeOfID>ORCID</a:TypeOfID>
            <a:ResearcherIdentification>0000-0002-1543-7358</a:ResearcherIdentification>
          </a:ResearcherID>
        </a:IndividualIdentification>
      </a:Individual>
      <a:Individual>
        <r:URN>urn:ddi:se.researchdata:2025-283.Individual-0:2.0</r:URN>
        <r:UserAttributePair>
          <r:AttributeKey>affiliation</r:AttributeKey>
          <r:AttributeValue>Forestry Research Institute of Sweden</r:AttributeValue>
        </r:UserAttributePair>
        <a:IndividualIdentification>
          <a:IndividualName>
            <a:FirstGiven>Mats</a:FirstGiven>
            <a:LastFamily>Richardson</a:LastFamily>
            <a:FullName>
              <r:String>Mats Richardson</r:String>
            </a:FullName>
          </a:IndividualName>
          <a:ResearcherID>
            <a:TypeOfID>ORCID</a:TypeOfID>
            <a:ResearcherIdentification>0009-0005-0982-1897</a:ResearcherIdentification>
          </a:ResearcherID>
        </a:IndividualIdentification>
      </a:Individual>
      <a:Individual>
        <r:URN>urn:ddi:se.researchdata:2025-283.Individual-0:2.0</r:URN>
        <r:UserAttributePair>
          <r:AttributeKey>affiliation</r:AttributeKey>
          <r:AttributeValue>Forestry Research Institute of Sweden</r:AttributeValue>
        </r:UserAttributePair>
        <a:IndividualIdentification>
          <a:IndividualName>
            <a:FirstGiven>Petrus</a:FirstGiven>
            <a:LastFamily>Jönsson</a:LastFamily>
            <a:FullName>
              <r:String>Petrus Jönsson</r:String>
            </a:FullName>
          </a:IndividualName>
        </a:IndividualIdentification>
      </a:Individual>
      <a:Individual>
        <r:URN>urn:ddi:se.researchdata:2025-283.Individual-0:2.0</r:URN>
        <r:UserAttributePair>
          <r:AttributeKey>affiliation</r:AttributeKey>
          <r:AttributeValue>Swedish University of Agricultural Sciences</r:AttributeValue>
        </r:UserAttributePair>
        <a:IndividualIdentification>
          <a:IndividualName>
            <a:FirstGiven>William</a:FirstGiven>
            <a:LastFamily>Arnvik</a:LastFamily>
            <a:FullName>
              <r:String>William Arnvik</r:String>
            </a:FullName>
          </a:IndividualName>
          <a:ResearcherID>
            <a:TypeOfID>ORCID</a:TypeOfID>
            <a:ResearcherIdentification>0009-0008-9673-2236</a:ResearcherIdentification>
          </a:ResearcherID>
        </a:IndividualIdentification>
      </a:Individual>
      <a:Individual>
        <r:URN>urn:ddi:se.researchdata:2025-283.Individual-0:2.0</r:URN>
        <r:UserAttributePair>
          <r:AttributeKey>affiliation</r:AttributeKey>
          <r:AttributeValue>Umeå University</r:AttributeValue>
        </r:UserAttributePair>
        <a:IndividualIdentification>
          <a:IndividualName>
            <a:FirstGiven>Lucas</a:FirstGiven>
            <a:LastFamily>Hedström</a:LastFamily>
            <a:FullName>
              <r:String>Lucas Hedström</r:String>
            </a:FullName>
          </a:IndividualName>
          <a:ResearcherID>
            <a:TypeOfID>ORCID</a:TypeOfID>
            <a:ResearcherIdentification>0000-0002-3315-0633</a:ResearcherIdentification>
          </a:ResearcherID>
        </a:IndividualIdentification>
      </a:Individual>
      <a:Individual>
        <r:URN>urn:ddi:se.researchdata:2025-283.Individual-0:2.0</r:URN>
        <r:UserAttributePair>
          <r:AttributeKey>affiliation</r:AttributeKey>
          <r:AttributeValue>Umeå University</r:AttributeValue>
        </r:UserAttributePair>
        <a:IndividualIdentification>
          <a:IndividualName>
            <a:FirstGiven>Arvid</a:FirstGiven>
            <a:LastFamily>Fälldin</a:LastFamily>
            <a:FullName>
              <r:String>Arvid Fälldin</r:String>
            </a:FullName>
          </a:IndividualName>
          <a:ResearcherID>
            <a:TypeOfID>ORCID</a:TypeOfID>
            <a:ResearcherIdentification>0009-0000-9267-1140</a:ResearcherIdentification>
          </a:ResearcherID>
        </a:IndividualIdentification>
      </a:Individual>
      <a:Individual>
        <r:URN>urn:ddi:se.researchdata:2025-283.Individual-0:2.0</r:URN>
        <r:UserAttributePair>
          <r:AttributeKey>affiliation</r:AttributeKey>
          <r:AttributeValue>Umeå University</r:AttributeValue>
        </r:UserAttributePair>
        <a:IndividualIdentification>
          <a:IndividualName>
            <a:FirstGiven>Martin</a:FirstGiven>
            <a:LastFamily>Servin</a:LastFamily>
            <a:FullName>
              <r:String>Martin Servin</r:String>
            </a:FullName>
          </a:IndividualName>
          <a:ResearcherID>
            <a:TypeOfID>ORCID</a:TypeOfID>
            <a:ResearcherIdentification>0000-0002-0787-4988</a:ResearcherIdentification>
          </a:ResearcherID>
        </a:IndividualIdentification>
      </a:Individual>
    </a:OrganizationScheme>
  </g:ResourcePackage>
  <s:StudyUnit>
    <r:URN>urn:ddi:se.researchdata:2025-283.StudyUnit:2.0</r:URN>
    <r:UserID typeOfUserID="datasetIdentifier">2025-283</r:UserID>
    <r:Citation>
      <r:Title>
        <r:String xml:lang="sv">FORWARD: Ett dataset av en skotare framförd i svår terräng</r:String>
        <r:String xml:lang="en">FORWARD: Dataset of a forwarder operating in rough terrain</r:String>
      </r:Title>
      <r:Creator>
        <r:CreatorReference>
          <r:URN>urn:ddi:se.researchdata:2025-283.Individual-0:2.0</r:URN>
          <r:TypeOfObject>Individual</r:TypeOfObject>
        </r:CreatorReference>
      </r:Creator>
      <r:Publisher>
        <r:PublisherName>
          <r:String xml:lang="sv">Umeå universitet</r:String>
          <r:String xml:lang="en">Umeå University</r:String>
        </r:PublisherName>
      </r:Publisher>
      <r:Publisher>
        <r:PublisherName>
          <r:String xml:lang="sv">Umeå universitet</r:String>
          <r:String xml:lang="en">Umeå University</r:String>
        </r:PublisherName>
      </r:Publisher>
      <r:PublicationDate>
        <r:SimpleDate>2025-12-17</r:SimpleDate>
      </r:PublicationDate>
      <r:InternationalIdentifier>
        <r:IdentifierContent>10.71540/81md-a858</r:IdentifierContent>
        <r:ManagingAgency controlledVocabularyAgencyName="DOI">DOI</r:ManagingAgency>
      </r:InternationalIdentifier>
    </r:Citation>
    <r:Abstract>
      <r:Content xml:lang="sv">Datasetet FORWARD omfattar detaljerade sensor‑ och loggdata från en Komatsuskotare, insamlade under drift i utmanande terräng samt på grusvägar på två svenska avverkningsplatser. Sensorer inkluderar RTK‑GNSS för exakt positionering, en 360‑graderskamera för visuell dokumentation, vibrationssensorer i förarsätet, CAN‑bus signalregistrering och flera IMU‑enheter monterade på maskinen. Datat innehåller tidsstämplade fordonspositioner med centimeterprecision samt loggade maskinvariabler med ett samplingsintervall på 5 Hz, exempelvis körhastighet, bränsleförbrukning och krananvändning. Dessutom ingår högupplösta terrängdata från helikopterburen laserskanning (1500 punkter/m²) samt StanForD‑produktionsloggfiler med detaljerade händelseregistreringar för arbetet.</r:Content>
      <r:Content xml:lang="en">The FORWARD dataset comprises detailed sensor and log data from a Komatsu cut-to-length forwarder, collected during operations in challenging terrain as well as on gravel roads at two Swedish harvest sites. Sensor instrumentation includes RTK-GNSS for precise positioning, a 360-degree camera for visual documentation, operator seat vibration sensors, CAN-bus signal logging, and multiple IMUs mounted on the machine. The dataset provides time-stamped vehicle positions with centimeter-level accuracy, and machine event logs sampled at 5 Hz, covering variables such as driving speed, fuel consumption, and crane activity. Additionally, high resolution terrain data from helicopter-borne laser scanning (1500 points/m²) is included, along with StanForD production log files containing detailed event records for each work session.</r:Content>
    </r:Abstract>
    <r:Coverage>
      <r:TopicalCoverage>
        <r:URN>urn:ddi:se.researchdata:2025-283.TopicalCoverage:2.0</r:URN>
        <r:Subject xml:lang="en" controlledVocabularyID="1" controlledVocabularyName="Standard för svensk indelning av forskningsämnen 2025">Natural Sciences</r:Subject>
        <r:Subject xml:lang="sv" controlledVocabularyID="1" controlledVocabularyName="Standard för svensk indelning av forskningsämnen 2025">Naturvetenskap</r:Subject>
        <r:Subject xml:lang="en" controlledVocabularyID="20201" controlledVocabularyName="Standard för svensk indelning av forskningsämnen 2025">Robotics and automation</r:Subject>
        <r:Subject xml:lang="sv" controlledVocabularyID="20201" controlledVocabularyName="Standard för svensk indelning av forskningsämnen 2025">Robotik och automation</r:Subject>
        <r:Subject xml:lang="en" controlledVocabularyID="20399" controlledVocabularyName="Standard för svensk indelning av forskningsämnen 2025">Other Mechanical Engineering</r:Subject>
        <r:Subject xml:lang="sv" controlledVocabularyID="20399" controlledVocabularyName="Standard för svensk indelning av forskningsämnen 2025">Annan maskinteknik</r:Subject>
        <r:Subject xml:lang="en" controlledVocabularyID="401" controlledVocabularyName="Standard för svensk indelning av forskningsämnen 2025">Agriculture, Forestry and Fisheries</r:Subject>
        <r:Subject xml:lang="sv" controlledVocabularyID="401" controlledVocabularyName="Standard för svensk indelning av forskningsämnen 2025">Jordbruk, skogsbruk och fiske</r:Subject>
        <r:Subject xml:lang="en" controlledVocabularyID="40104" controlledVocabularyName="Standard för svensk indelning av forskningsämnen 2025">Forest Science</r:Subject>
        <r:Subject xml:lang="sv" controlledVocabularyID="40104" controlledVocabularyName="Standard för svensk indelning av forskningsämnen 2025">Skogsvetenskap</r:Subject>
        <r:Subject xml:lang="en" controlledVocabularyID="10210" controlledVocabularyName="Standard för svensk indelning av forskningsämnen 2025">Artificial Intelligence</r:Subject>
        <r:Subject xml:lang="sv" controlledVocabularyID="10210" controlledVocabularyName="Standard för svensk indelning av forskningsämnen 2025">Artificiell intelligens</r:Subject>
        <r:Keyword xml:lang="en" controlledVocabularyID="p1861" controlledVocabularyName="YSO">forestry</r:Keyword>
        <r:Keyword xml:lang="sv" controlledVocabularyID="p1861" controlledVocabularyName="YSO">skogsbruk</r:Keyword>
        <r:Keyword xml:lang="en" controlledVocabularyID="p4386" controlledVocabularyName="YSO">video recording</r:Keyword>
        <r:Keyword xml:lang="sv" controlledVocabularyID="p4386" controlledVocabularyName="YSO">videofilmning</r:Keyword>
        <r:Keyword xml:lang="en" controlledVocabularyID="p2616" controlledVocabularyName="YSO">artificial intelligence</r:Keyword>
        <r:Keyword xml:lang="sv" controlledVocabularyID="p2616" controlledVocabularyName="YSO">artificiell intelligens</r:Keyword>
        <r:Keyword xml:lang="en" controlledVocabularyID="p13920" controlledVocabularyName="YSO">automation systems</r:Keyword>
        <r:Keyword xml:lang="sv" controlledVocabularyID="p13920" controlledVocabularyName="YSO">automationssystem</r:Keyword>
        <r:Keyword xml:lang="en" controlledVocabularyID="p9227" controlledVocabularyName="YSO">forest machines</r:Keyword>
        <r:Keyword xml:lang="sv" controlledVocabularyID="p9227" controlledVocabularyName="YSO">skogsmaskiner</r:Keyword>
        <r:Keyword xml:lang="en" controlledVocabularyID="p22480" controlledVocabularyName="YSO">log files</r:Keyword>
        <r:Keyword xml:lang="sv" controlledVocabularyID="p22480" controlledVocabularyName="YSO">loggar</r:Keyword>
        <r:Keyword xml:lang="en" controlledVocabularyID="182168" controlledVocabularyName="NASA Thesaurus">acoustic vibrations</r:Keyword>
        <r:Keyword xml:lang="en" controlledVocabularyID="63810" controlledVocabularyName="NASA Thesaurus">spatial resolution</r:Keyword>
        <r:Keyword xml:lang="en" controlledVocabularyID="55653" controlledVocabularyName="NASA Thesaurus">time synchronization</r:Keyword>
      </r:TopicalCoverage>
      <r:SpatialCoverage>
        <r:URN>urn:ddi:se.researchdata:2025-283.SpatialCoverage:2.0</r:URN>
        <r:Description>
          <r:Content xml:lang="en">Two testsites are included in the dataset, Märrviken (62°17'01.0"N 15°04'06.2"E) and Björsjö (62°21'39.1"N 15°31'19.2"E). Both are situated in Ånge municipality, Västernorrlands county, close to Sweden's geographic center point.</r:Content>
        </r:Description>
        <r:CountryCode>SE</r:CountryCode>
      </r:SpatialCoverage>
    </r:Coverage>
    <d:DataCollection>
      <r:URN>urn:ddi:se.researchdata:2025-283.DataCollection:2.0</r:URN>
      <d:CollectionEvent>
        <r:URN>urn:ddi:se.researchdata:2025-283.CollectionEvent:2.0</r:URN>
        <d:DataCollectorOrganizationReference>
          <r:URN>urn:ddi:se.researchdata:2025-283.Organization-0:2.0</r:URN>
          <d:ID />
          <d:Version />
          <d:TypeOfObject>Organization</d:TypeOfObject>
        </d:DataCollectorOrganizationReference>
        <d:DataCollectionDate />
        <d:ModeOfCollection>
          <r:URN>urn:ddi:se.researchdata:2025-283.CollectionEvent-0-ModeOfCollectionType:2.0</r:URN>
          <d:TypeOfModeOfCollection>Experiment</d:TypeOfModeOfCollection>
          <r:Description>
            <r:Content xml:lang="en">Experiment</r:Content>
            <r:Content xml:lang="sv">Experiment</r:Content>
          </r:Description>
        </d:ModeOfCollection>
      </d:CollectionEvent>
    </d:DataCollection>
    <a:Archive>
      <r:URN>urn:ddi:se.researchdata:2025-283.Archive:2.0</r:URN>
      <a:ArchiveSpecific>
        <a:Item>
          <a:Access>
            <r:URN>urn:ddi:se.researchdata:2025-283.Archive-ArchiveSpecificType-AccessType:2.0</r:URN>
            <a:TypeOfAccess controlledVocabularyName="info:eu-repo-Access-Terms vocabulary">openAccess</a:TypeOfAccess>
          </a:Access>
          <a:DataFileQuantity>1445</a:DataFileQuantity>
        </a:Item>
      </a:ArchiveSpecific>
    </a:Archive>
  </s:StudyUnit>
</ddi:DDIInstance>