Abstract: A method of estimating the remaining driving distance available from a current charge of a battery of an electrically powered mobility device, wherein the method comprises: a) determining a state of charge of the battery based on a measured battery-related parameter, b) determining a state of health of the battery based on the state of charge, and c) estimating the remaining driving distance that the mobility device can travel with the current charge based on the state of charge and the state of health, wherein step b) involves determining the state of health based on actual consumed ampere hours of the battery.

Abstract: A tree harvesting head for a tree harvesting machine, wherein the tree harvesting head comprises at least one cutting device, at least two feed wheels and a radar device. The radar device comprises at least one radar transmitter antenna arranged to transmit a signal to a tree trunk to be measured, at least two radar receiver antennas arranged to receive a radar signal reflected in at least a first and a second location in response to the transmitted radar signal, wherein the first and second locations are different locations. The radar device further comprises means for obtaining characteristics related to the tree trunk based on the signal(s) reflected at the first and second locations.

Abstract: The present disclosure relates to a tree harvesting machine (120) having a crane arm (118), wherein the crane arm (118) comprises a tree harvesting head (100; 200) arranged at a free end of the crane arm (118). The tree harvesting head (100) comprises a saw (104) and at least two feed wheels (102). The tree harvesting head (100) further comprises an electric motor (106a) arranged to drive the saw (104), and at least one electric motor (106b) arranged to drive the feed wheels (102). The present disclosure also relates to associated tree harvesting monitoring systems, tree harvesting heads, methods and computer programs.

Abstract: The present disclosure relates to a tree harvesting machine (120) having a crane arm (118), wherein the crane arm (118) comprises a tree harvesting head (100; 200) arranged at a free end of the crane arm (118). The tree harvesting head (100) comprises a saw (104) and at least two feed wheels (102). The tree harvesting head (100) further comprises an electric motor (106a) arranged to drive the saw (104), and at least one electric motor (106b) arranged to drive the feed wheels (102). The present disclosure also relates to associated tree harvesting monitoring systems, tree harvesting heads, methods and computer programs.