Spark generation around forwarders

This dataset contains recordings of spark generation events produced when a forwarder equipped with bogie tracks strikes stones under semi-controlled field conditions. The data were collected to quantify spark occurrence and spatial spread, supporting research on wildfire ignition mechanisms and fire risk mitigation in forestry operations.

The dataset includes thermal imaging, RGB video, LiDAR data, and aggregated measurements derived from controlled field experiments conducted in south-central Sweden.

Data collection

Field experiments were conducted at two sites (Site A and Site B) in south-central Sweden. A Komatsu 895 forwarder equipped with bogie tracks was driven over boulders at controlled speeds (0.5, 1, and 3 km/h).

Each stone was traversed multiple times, resulting in a total of 79 recorded passes.

Sensors used:

• Thermal camera: FLIR A655sc (resolution: 640x480 pixels, frame rate: 25 Hz) (for detecting sparks)
• RGB camera: ZED 2 (provided to facilitate the interpretation of the LiDAR data and thermal camera images)
• LiDAR: Velodyne VLP-16 (for determining spark travel distance)

Sensors were mounted on a portable platform positioned approximately 7 m behind the stone, aligned with the bogie track–stone contact point.

Data processing

Spark events were manually identified from thermal recordings using FLIR Research Studio version 2025.01.0. The spark travel distance was determined with the help of the LiDAR data (viewed/analyzed in MATLAB Lidar Viewer 2024b). The aggregated data includes:

• Number of sparks per pass
• Spark travel distance (binned: 0–15 cm, 15–30 cm, 30–45 cm, >45 cm)
• Forwarder speed (0.5, 1, 3 km/h)
• Site A vs Site B (new vs worn cleats)