Abstract: A method for determining an alternate path by a mobile machine to avoid at least one obstacle. The method includes the steps of assigning an initial value of charge to the mobile machine, assigning a value of charge to a desired destination, determining the presence and the locations of at least one obstacle, and assigning a value of charge to each determined obstacle. The method further includes the steps of determining a force vector equation for each of the desired destination and each obstacle with respect to the mobile machine, determining a resultant force vector as a function of the force vector equations, and controlling the steering and movement of the mobile machine in response to the resultant force vector.

Abstract: A method and apparatus for controlling a plurality of hydraulic cylinders to control the movement of a work implement having multiple degrees of freedom. The method includes inputting a velocity command in a work implement frame of reference, determining a plurality of desired cylinder positions as a function of the velocity command, controllably moving at least one cylinder to move the work implement in at least one degree of freedom to a desired work implement position, and controllably moving at least one other cylinder to maintain the position of the work implement in at least one other degree of freedom.

Abstract: A method and apparatus for controlling a hitch system on a work machine, the hitch system having a work implement attached. The method and apparatus includes determining at least one force applied to at least one of the work machine and the work implement, determining at least one distance from a predetermined point on the hitch system to a desired at least one point on at least one of the work machine and the work implement, calculating at least one moment for at least one of the work machine and the work implement, responsively determining a desired pressure to apply to a powered linear actuator located on the hitch system to obtain a desired load distribution point on the work machine, and applying the desired pressure to the powered linear actuator.

Abstract: An apparatus for controlling an earthworking implement. The earthworking implement is movably attached to a track-type tractor having a main frame and a track roller frame. The track roller frame is located on a left and a right side of the main frame. The apparatus includes a c-frame attached to inner portions of the track roller frame at positions toward a forward portion of the track-type tractor. The apparatus also includes four independently operable hydraulic cylinders attached to one of the main frame and the c-frame. Each of the hydraulic cylinders has a head end located toward the attachment to the one of the main frame and the c-frame, and a rod end located substantially vertically upwards of the head end. The apparatus also includes an earthworking blade attached to each of the rod ends of the hydraulic cylinders and to the c-frame.

Abstract: An apparatus and method is shown for determining the position of a rowcrop in a field being traversed by a mobile machine. The apparatus and method includes a ground penetrating radar (GPR) assembly located on the mobile machine, a processor for receiving a GPR receive signal from the GPR assembly and determining the position of the rowcrop, and a work implement attached to the mobile machine and adapted to move in a direction transverse the longitudinal direction of the mobile machine in response to the location of the rowcrop.

Abstract: An apparatus and method for rotatably positioning a machine housing is disclosed. A pump produces pressurized fluid to a motor that responsively rotates the machine housing. A control valve regulates fluid flow from the pump to the motor. A position sensor detects the rotational position of the housing and responsively produces an actual position signal. A device produces a signal indicative of a desired rotational position of the housing. A controller compares the desired and actual position signals, responsively produces an error signal, multiplies the error signal by a variable gain value representative of the housing acceleration and delivers a control signal to the control valve to rotate the housing to the desired position.

Abstract: A method and apparatus to monitor ton-miles-per-hour on a plurality of tires on a mobile machine as the mobile machine hauls a load by determining the weight of the load on the tires, determining the ground speed of the mobile machine, and compensating for uneven distribution of the load on the tires. The ton-miles-per-hour is calculated for each tire as a function of the load distribution and the ground speed.

Abstract: A communications system and method for fleets of earthworking machines. The system and method includes a global communications level for communicating over long range distances, at least one site communications level for communicating over medium range distances, and at least one theater communications level for communicating over short range distances. The system and method also includes at least one local communications level for communicating between earthworking machines, and a fleet manager for coordinating communications of the earthworking machines as a function of at least one of the global communications level, the site communications level, the theater communications level, and the local communications level.

Abstract: A base station receives GPS signals from GPS satellites and transmits a combined differential GPS (DGPS) signal and a command signal. At least one pseudolite receives the DGPS and command signals and combines the DGPS and command signals with a pseudo-GPS signal. A GPS receiver on a mobile machine receives GPS signals from GPS satellites, and the combined signal from the pseudolite. The position signals are delivered to a machine position processor to generate a machine position signal. The command signals are delivered to a machine control processor to generate a machine control signal. The machine position signal and the machine control signal are delivered to a machine navigator to control the mobile machine.

Abstract: An earth working apparatus includes a first machine component and a second machine component which is movable relative to the first machine component. The apparatus also includes a motor for moving the second machine component relative to the first machine component, wherein the motor includes a motor shaft. The apparatus also includes a housing secured to the first machine component, the housing having a chamber defined therein. The apparatus further includes a sensor positioned within the chamber of the housing, wherein (1) the sensor includes a sensor body and a sensor shaft, (2) the sensor body is fixed in relation to the housing, and (3) the sensor shaft is movable in relation to the housing. The apparatus also includes a linkage assembly which mechanically couples the motor shaft to the sensor shaft.

Abstract: A computer-based method and system for monolingual document development, which includes the steps of entering into a text editor input text in a source language, checking the input text against vocabulary source language constraints, and providing interactive feedback relating to the input text if non-constrained source language is present. The method and system also includes the steps of checking for syntactic grammatical errors and semantic ambiguities in the source text, and providing interactive feedback to remove syntactic grammatical errors and semantic ambiguities in the source text.

Abstract: A method for monitoring the condition of oil in an engine is disclosed which includes the steps of determining a plurality of parameters, determining a fuel injection model, determining the area of the cylinder walls that is coated with fuel, and responsively determining a total base number (TBN) model. The TBN determined from the model may be trended over time to predict the useful life of the oil.

Abstract: An apparatus and method determines the position of a point on a work implement attached to and movable relative to a mobile machine. The apparatus includes a site coordinate system position sensor mounted on the mobile machine, a ground speed sensor mounted on the mobile machine, an implement position sensor mounted on the mobile machine and coupled to the work implement, and a pitch sensor mounted on the machine.

Abstract: A method and apparatus for supplying electrical power in an earth moving machine is provided. The method and apparatus includes an engine adapted to deliver primary power at a variable speed to the earth moving machine. A hydraulic system is connected to and driven by the engine. The hydraulic system in turn is connected to and drives a work implement. A variable input speed, constant output generator system is connected to and driven by the engine at a variable speed. The generator delivers electrical power at a constant value independent of variations of the speed of the engine. There is at least one auxiliary system adapted to receive the electrical power.

Abstract: A method for determining a series of work cycles for an earthmoving machine is disclosed. The method includes the steps of determining a plurality of parameters, modeling a volume of material to be moved, planning a series of work cycles to move the volume of material, and determining a level of productivity of the series of work cycles. The method also includes the steps of repeating the above steps a predetermined number of times and choosing an optimal series of work cycles to move the volume of material.

Abstract: The present invention provides a method for selecting a steering method for an earthmoving machine having a blade and first and second tracks. One embodiment of the present invention includes selecting a steering method based on the position error of the machine. In another embodiment of the present invention the steering method is selected based on the elevation of the work implement, and the position error.

Abstract: A method for monitoring the condition of oil in an engine is disclosed which includes the steps of determining a plurality of parameters, determining a fuel injection model, determining the area of the cylinder walls that is coated with soot, and responsively determining a soot model. The method may include the additional steps of calculating a value of residual soot, and calculating a value of soot dispersed by dispersants. The accumulation of soot determined from the model may be trended over time to predict the useful life of the oil.

Abstract: A method and apparatus for controlling an earthworking implement on an earthworking machine to preserve a crown on the surface of a road, including determining the position of the crown on the road surface, choosing a sloped grade on one side of the crown, positioning the earthworking implement on the sloped grade so that a first end of the earthworking implement is on the road surface. The processor determines a desired position of a second end of the earthworking implement so that the second end overlaps the crown and the earthworking implement does not cut the crown.

Abstract: An apparatus and method for periodically cleaning the fins of a radiator of an internal combustion engine using a nozzle system with at least one nozzle directed toward the fins, and a cleaning agent delivery system connected to the nozzle system. The apparatus determines the presence of airflow resistance through the fins, generates an airflow resistance signal, delivers the airflow resistance signal to a control system, and delivers a control signal to the cleaning agent delivery system.

Abstract: A method and apparatus to determine the payload in a mobile machine by measuring the total weight of the mobile machine, the fuel in a fuel tank on the mobile machine, and the payload. The weight of the fuel is determined as the machine operates, and the actual weight of the payload is determined by subtracting the weight of the fuel and the weight of the mobile machine.