Abstract: In one aspect, a method for shared access of a machine for operator training, the machine including a traction device and an implement, includes receiving an authorization from an access device to share access to the machine, and entering a shared control state based on at least the authorization received from the access device. The method also includes receiving commands from a remote operation device during the shared control state and operating at least one of the traction device or the implement of the machine based on at least the commands from the remote operation device while an operator is present in the machine.

Abstract: In one aspect, a method for shared access of a machine for operator training, the machine including a traction device and an implement, includes receiving an authorization from an access device to share access to the machine, and entering a shared control state based on at least the authorization received from the access device. The method also includes receiving commands from a remote operation device during the shared control state and operating at least one of the traction device or the implement of the machine based on at least the commands from the remote operation device while an operator is present in the machine.

Abstract: A method for operating an implement of a work machine is disclosed. The method includes detecting a progression of an input device between a first position and a second position based on a first parameter and a second parameter; determining a plurality of segments of the progression; estimating a value of the second parameter of at least one first segment and at least one second segment; issuing a baseline signal to generate command to initiate manipulation of the implement if the value of the second parameter of the first segment complies with corresponding second parameter threshold condition; issuing a secondary signal to continue manipulation of the implement if the value of the second parameter of the second segment complies with corresponding second parameter threshold condition; and terminating the command if the value of the second parameter of at least one second segment violates the corresponding second parameter threshold condition.

Abstract: A machine having a ground-engaging work tool is disclosed includes a traction device configured to move the machine on a ground surface, a control system configured to determine a slip experienced by the machine as the machine moves on the ground surface, and a display device. The display device may be configured to pictorially display (a) the determined slip, and (b) one or more target ranges of slip, wherein the machine efficiency when slip has a value within a target range may be higher compared to the efficiency when slip is outside the target range.

Abstract: A machine having a ground-engaging work tool is disclosed includes a traction device configured to move the machine on a ground surface, a control system configured to determine a slip experienced by the machine as the machine moves on the ground surface, and a display device. The display device may be configured to pictorially display (a) the determined slip, and (b) one or more target ranges of slip, wherein the machine efficiency when slip has a value within a target range may be higher compared to the efficiency when slip is outside the target range.

Abstract: A method for automatically adjusting a target ground speed of a machine includes receiving data from a sensor, at a work monitor unit of an electronic control module of the machine, analyzing the data received from the sensor on the work monitor unit, receiving the data from the work monitor unit at a target model unit of the electronic control module, calculating, at the target model unit based on the data, ground engagement data for the machine, receiving the ground engagement data for the machine at a work monitor library unit of the electronic control module, calculating, at the work monitor library unit, the target ground speed, and adjusting a speed of the machine to the target ground speed.

Abstract: A method for automatically adjusting a target ground speed of a machine includes receiving data from a sensor, at a work monitor unit of an electronic control module of the machine, analyzing the data received from the sensor on the work monitor unit, receiving the data from the work monitor unit at a target model unit of the electronic control module, calculating, at the target model unit based on the data, ground engagement data for the machine, receiving the ground engagement data for the machine at a work monitor library unit of the electronic control module, calculating, at the work monitor library unit, the target ground speed, and adjusting a speed of the machine to the target ground speed.

Abstract: A system and method of controlling a ripping operation is disclosed. The method includes lowering a ripper of a machine to a depth under a work surface. The method determines when a drawbar pull of the machine is at a drawbar pull target for the machine. When the drawbar pull is greater than the drawbar pull target, reducing power source torque of the machine from a first power source torque to a second power source torque.

Abstract: A method for automatically adjusting a target ground speed of a machine includes receiving data from a sensor, at a work monitor unit of an electronic control module of the machine, analyzing the data received from the sensor on the work monitor unit, receiving the data from the work monitor unit at a target model unit of the electronic control module, calculating, at the target model unit based on the data, ground engagement data for the machine, receiving the ground engagement data for the machine at a work monitor library unit of the electronic control module, calculating, at the work monitor library unit, the target ground speed, and adjusting a speed of the machine to the target ground speed.

Abstract: A system for determining a hydraulic seal coefficient of friction of a hydraulic cylinder includes a force sensor to provide a force signal indicative of a force of the cylinder. A controller is configured to receive a plurality of first force signals at a first load and determine a first friction force and receive a plurality of second force signals at a second load and determine a second friction force. A hydraulic seal coefficient of friction is determined based at least in part upon the first friction force and the second friction force. A method is also disclosed.

Abstract: Optimum performance in an earth moving machine, such as a track-type tractor, is a function of many complex factors such as power delivered to the tracks, load, soil type, soil conditions, speed, terrain, etc. To determine an operating point associated with optimum performance, operational data may be collected, processed, and applied to known performance curves for well characterized conditions to develop recommended operating conditions. A coefficient of traction and a shear modulus adjustment, reflecting surface conditions, are calculated at the tractor during operation and used to offset a table of ideal condition operating points for use in soil characterizations. Using this and other inputs, a cycle power equation gives a curve that peaks at a theoretical optimum performance. However, the number of variables make an analytic solution impossible. An iterative approach determines a range of operating conditions associated with optimum performance.

Abstract: A method of estimating soil conditions of a work surface during operation of a track-type tractor measures current operating conditions and current operating state to develop adjustments to a nominal pull-slip curve. The adjusted pull-slip curve is used to calculate optimum performance in terms of an input variable such as track speed. Two factors are developed to reflect soil conditions, coefficient of traction and a shear modulus adjustment that affect different portions of the nominal pull slip curve.

Abstract: Machines, such as large tractors used in earthmoving, operate in a cycle of pushing forward and reversing to a starting point. The net performance of the machine is a function of the speed at which the reverse segment is performed. Generally, using the highest gear for reverse accomplishes the goal of the fastest return. However, some high slope grade conditions may result in higher speeds using lower gears. A combination of slope, track speed vs. drawbar pull, and track slip may be used to recommend a gear and track speed with the greatest ground speed for reverse operation.

Abstract: Real time determination of current vs. optimum performance in a track-type tractor is complex and requires information about both a state of the tractor and the operating environment, such as soil conditions. Presenting such data to an operator creates a problem of conveying sufficient information without undue complexity. A three part display for an operator shows a full range of performance, a subset range of performance associated with peak performance that is overlaid on the full range of performance, and a current performance indicator also overlaid on the full range of performance, such that peak performance is achieved when the current performance indicator is centered on the subset range of performance. The subset range of performance may move over the full range of performance to indicate operating conditions favoring a particular condition, e.g., low slip. An operator may then effect a change by adjusting, for example, speed or load.

Abstract: A payload control system includes a tool position sensor, a boom lift sensor, and a boom swing sensor. A controller is configured to determine a segment of a work cycle based upon the tool position, the boom lift, and the boom swing signal, and determine a payload moved by the tool during the segment of the work cycle.

Abstract: A method of measuring and displaying track-type tractor performance in real time calculates both a measure of work performance and a theoretical optimum work performance for a given input state, such as track speed. After estimating soil conditions, the theoretical optimum is estimated using an iterative technique. The optimum and current performance are normalized and displayed using a first bar representing a full range of work performance, a second bar depicting a range of optimum performance for current conditions is presented overlying the first bar, and an indicator line showing the current performance. This allows an operator to adjust speed or load accordingly. A coefficient of traction and a shear modulus adjustment, reflecting soil conditions, are calculated at the tractor during operation and used to offset a table of ideal condition operating points to produce the second bar.

Abstract: A payload control system includes a sensor system and a force sensor system. A controller determines a calibration machine state, a calibration linkage force, and machine calibration parameters based at least in part upon the calibration machine state and the calibration linkage force. The controller also determines a loaded implement machine state, a loaded implement linkage force, and a mass of the payload based at least in part upon the machine calibration parameters, the loaded implement machine state, and the loaded implement linkage force.

Abstract: Optimum performance in an earth moving machine, such as a track-type tractor, is a function of many complex factors such as power delivered to the tracks, load, soil type, soil conditions, speed, terrain, etc. To determine an operating point associated with optimum performance, operational data may be collected, processed, and applied to known performance curves for well characterized conditions to develop recommended operating conditions. A coefficient of traction and a shear modulus adjustment, reflecting surface conditions, are calculated at the tractor during operation and used to offset a table of ideal condition operating points for use in soil characterizations. Using this and other inputs, a cycle power equation gives a curve that peaks at a theoretical optimum performance. However, the number of variables make an analytic solution impossible. An iterative approach determines a range of operating conditions associated with optimum performance.

Abstract: A method of measuring and displaying track-type tractor performance in real time calculates both a measure of work performance and a theoretical optimum work performance for a given input state, such as track speed. After estimating soil conditions, the theoretical optimum is estimated using an iterative technique. The optimum and current performance are normalized and displayed using a first bar representing a full range of work performance, a second bar depicting a range of optimum performance for current conditions is presented overlying the first bar, and an indicator line showing the current performance. This allows an operator to adjust speed or load accordingly. A coefficient of traction and a shear modulus adjustment, reflecting soil conditions, are calculated at the tractor during operation and used to offset a table of ideal condition operating points to produce the second bar.