Abstract: A control system and method automatically controls a work implement of an excavating machine to perform a complete excavation work cycle. In performing the work cycle, the control system automatically extends the work implement down into the trench, completes a dig stroke, captures the excavated material, swings the work implement to dump, dumps the load, returns the work implement to the trench, and repeats the work cycle until a trench is excavated according to operator programmed specifications. The control system monitors the position of the work implement and the forces exerted on the work implement and controllably actuates the work implement according to predetermined position and force setpoints.

Abstract: An apparatus is provided for sensing torque applied to a shaft. In the field on contactless torque sensing, magnetic flux is induced into magnetostrictive material on a shaft whose torque is to be measured. The magnetic permeability of the magnetostrictive material changes in response to torque. The change in magnetic permeability alters the magnetic flux in the magnetostrictive material, and can be sensed by non-contacting inductive coils in close proximity to the magnetostrictive material. However, the amount of flux penetration into the shaft effects the sensed magnetic flux, and thus effects the accuracy of the torque measurement. As a solution, a magnetostrictive material sheet is bonded to a nonferromagnetic sheet which is bonded to a shaft. The nonferromagnetic sheet limits the amount of flux penetration into the shaft to produce better torque measurements.