Abstract: A computer program product for deriving a heading of an implement of a work vehicle. The work vehicle comprises, as independently tracked components, the implement, a chassis, and an arm connecting the two. For each of the independently tracked components a respective IMU is correspondingly associated, wherein the IMU provides an IMU reference frame of the component. The computer program product derives, on the basis of the IMU reference frames, internal and external constraints consistent component reference frames. The heading of the implement is derived utilizing the consistent component reference frames.

Abstract: A method for deriving a wear state of a soil interaction component of a soil processing implement of a construction vehicle. The method comprises steps of 1.) providing a geometry model regarding an assumed shape of the soil interaction component, 2.) engaging the soil by using the soil interaction component and tracking a motion for deriving tracking data of the soil interaction component, 3.) using the tracking data and the geometry model to derive an expected 3D surface model, 4.) providing visual 3D perception data of a soil area affected by the engaging, such that the visual 3D perception data and the expected 3D surface model can be referenced to one another, and 5.) comparing the visual 3D perception data with the expected 3D surface model and, based thereof, determining a deviation of an effective shape of the soil interaction component from the assumed shape.

Abstract: A method for tracking a movable implement of a work vehicle. The method comprises the steps of 1.) accessing images during movement of the work vehicle providing a view onto an environment and at least part of the implement, 2.) providing by a feature tracking algorithm a 3D environment model and referencing of the sensor pose to the 3D environment model, 3.) tracking implement features at different poses of the implement and, determining implement tracking data providing positional and arrangement information for the implement features, 4.) accessing benchmark information providing a real distance between two benchmark points, 5.) using the benchmark information to provide the implement tracking data with absolute scale information, and 6.) using the implement tracking data for the tracking of the implement.

Abstract: A method for controlling movement of an end-effector of an excavator, wherein the end-effector is attached to the excavator via an articulated component comprising multiple links, wherein the method comprises providing motion commands for moving the end-effector, using a motion-control algorithm to translate the motion commands to control commands for moving the multiple links with respect to each other so that the end-effector moves with a target trajectory associated with the motion commands, accessing movement sensor data configured to provide monitoring of a movement of the articulated component and the end-effector, accessing impact sensor data comprising hydraulic pressure sensing data and/or force sensor data, using the movement sensor data and the impact sensor data to determine an estimated value of an impact parameter for the articulated component.

Abstract: Automation and/or operator assistance in an excavation operation to obtain a design surface that makes use of resistance data indicative of a resistance exerted on an end effector of the excavator when it engages material to be moved. Control commands for maneuvering the end effector are mapped to movement commands for the end effector according to a first and a second conversion rule. Digging under the first conversion rule causes the end effector to move according to a target path derived from the design surface, whereas digging under the second conversion rule causes the end effector to move as a function of the resistance data and a digging efficiency criterion, which allows to move the end effector independently from the target path. The automation and/or operator assistance automatically transitions from the first conversion rule to the second conversion rule as a function of the resistance data.

Abstract: A method for tracking a movable implement of a work vehicle. The method comprises the steps of 1.) accessing images during movement of the work vehicle providing a view onto an environment and at least part of the implement, 2.) providing by a feature tracking algorithm a 3D environment model and referencing of the sensor pose to the 3D environment model, 3.) tracking implement features at different poses of the implement and, determining implement tracking data providing positional and arrangement information for the implement features, 4.) accessing benchmark information providing a real distance between two benchmark points, 5.) using the benchmark information to provide the implement tracking data with absolute scale information, and 6.) using the implement tracking data for the tracking of the implement.

Abstract: A system and method for configuring a machine control unit of a construction machine for performing an earth-moving operation, the earth-moving operation comprising a multitude of phases that are to be performed consecutively, the method comprising, by a computing unit: receiving three-dimensional measuring data of a terrain in a surrounding of the construction machine in at least a first detection range, detecting elements of a previous phase of the earth-moving operation based on the three-dimensional measuring data, and configuring, based at least on the detected elements, the machine control unit to at least partially perform the next phase of the earth-moving operation automatically.

Abstract: An improved controlling of a dumping of a load of an earth moving machine, which has a conveying container configured for carrying the load. Control data for maneuvering the conveying container according to a selected dumping mode are generated by analyzing perception data and/or machine sensing data to determine a material parameter providing information on an adhesive property of a current load of the conveying container. Based on the material parameter, an appropriate dumping mode is selected, e.g. to improve efficiency of the unloading sequence and to reduce wear of the earth moving machine.

Abstract: A system for determining a swing boom angle of an excavator. The excavator comprises a lower part, an upper part comprising a cabin, the upper part being arranged on the lower part and configured to be rotated relative to the lower part about a first rotation axis and a swing boom arranged on the upper part and configured to be rotated relative to the upper part about a second rotation axis that an actual swing boom position defines a swing boom angle. The system comprises a first inertial measurement unit (IMU) configured to be mounted on the swing boom and to generate first IMU data, wherein the first IMU comprises at least one acceleration sensor and a processing unit. The processing unit is configured to receive the first IMU data, determine a direction of a centripetal acceleration acting on the first IMU and determine the swing boom angle.

Abstract: A system for determining a swing boom angle of an excavator. The system comprises a first measuring sensor configured to be mounted on a vehicle frame or a swing boom 4, wherein the first measuring sensor is configured to determine a first interim swing boom angle of the swing boom relative to the vehicle frame. The first interim swing boom angle is one of a discrete amount of one or more intermittent first interim swing boom angles, each of the discrete amount of one or more intermittent first interim swing boom angles being spaced from each other by at least a value of one degree. A second measuring sensor mounted on the swing boom to determine a second interim swing boom angle of the swing boom relative to the vehicle frame, the second interim swing boom angle being from an indiscrete angle range and a processing unit.

Abstract: A system for determining a swing boom angle of an excavator including a vehicle frame including a cabin, a swing boom arranged on the vehicle frame and configured to be rotated relative to the vehicle frame about a first rotation axis and a pneumatic or hydraulic cylinder. A first end of the pneumatic or hydraulic cylinder is coupled to the vehicle frame and a second end is coupled to the swing boom, wherein the cylinder is configured to be rotated relative to the vehicle frame about a second rotation axis at the first end, wherein the cylinder is configured to rotate the swing boom. The system comprises a first inertial measurement unit (IMU), configured to be mounted on the swing boom and to generate first IMU data, a second IMU configured to be mounted on the cylinder and to generate second IMU data and a processing unit.

Abstract: A system for planning an earth-moving operation to be performed by a construction machine having a tool for performing the earth-moving operation and a machine control unit for at least partially controlling the earth-moving operation, the system comprising a measuring system configured for capturing 3D measuring data of an uneven terrain in a surrounding of the construction machine, a context camera having a known position relative to the measuring system and/or the 3D measuring data and being configured for capturing context image data of the terrain, a user interface configured for displaying at least one context image to an operator of the construction machine and for receiving user input from the operator, and a computing unit operatively coupled at least with the measuring system and the user interface.

Abstract: A technique for flexibly adding instrumentation to an application. A file is created which includes a dynamic parameter syntax. The file identifies a trace point in the application, such as a method, and the syntax includes one or more parameters which are evaluated when the method is invoked. The parameters can be used to provide cross-process correlation and/or performance metrics. A client process which calls a server process can include the parameter in a message header according to any desired transport protocol, such as HTTP or JMS. Different application protocols and implementation can be accommodated to track a transaction which executes on different platforms. The dynamic parameter syntax is interpreted as uncompiled code and is designed to be added by the user in the field to augment a package of pre-built instrumentation software after the package has been deployed.

Abstract: Technology for monitoring transactions in a computing environment is disclosed. Execution of a transaction by a first application is monitored by a first software entity executing on a first computing device. Performance data that relates to execution of the transaction by a first application is generated. Execution of the transaction by a second application is monitored by a second software entity. The transaction is executed by the second application based on a request from the first application. A determination is made, based on the monitoring, that the first software entity should report the performance data to a third software entity that executes on a second computing device. Based on determining that the first software entity should report the performance data, data is propagated that indicates that the first software entity should report the performance data. The first software entity reports the performance data to the third software entity.

Abstract: Relationships between components in an application and the services they provide are identified, including redundant caller-callee sequences. Specific components of interest are instrumented to obtain data when they execute. Data structures are created which identify the components and their dependencies on one other. To avoid excessive overhead costs, redundant dependencies are identified. A dependency data structure can be provided for each unique dependency. When repeated instances of a dependency are detected, the associated dependency data structure can be augmented with correlation data of the repeated instances, such as transaction identifiers and sequence identifiers. Sequence identifiers identify an order in which a component is called. A flag can be used to force the creation of a new dependency data structure, and a calling component's name can be used instead of a sequence identifier. Agents report the dependency data structures to a manager to provide graph data in a user interface.

Abstract: Technology for monitoring transactions in a computing environment is disclosed. Execution of a transaction by a first application is monitored by a first software entity executing on a first computing device. Performance data that relates to execution of the transaction by a first application is generated. Execution of the transaction by a second application is monitored by a second software entity. The transaction is executed by the second application based on a request from the first application. A determination is made, based on the monitoring, that the first software entity should report the performance data to a third software entity that executes on a second computing device. Based on determining that the first software entity should report the performance data, data is propagated that indicates that the first software entity should report the performance data. The first software entity reports the performance data to the third software entity.

Abstract: A technique for flexibly adding instrumentation to an application. A file is created which includes a dynamic parameter syntax. The file identifies a trace point in the application, such as a method, and the syntax includes one or more parameters which are evaluated when the method is invoked. The parameters can be used to provide cross-process correlation and/or performance metrics. A client process which calls a server process can include the parameter in a message header according to any desired transport protocol, such as HTTP or JMS. Different application protocols and implementation can be accommodated to track a transaction which executes on different platforms. The dynamic parameter syntax is interpreted as uncompiled code and is designed to be added by the user in the field to augment a package of pre-built instrumentation software after the package has been deployed.

Abstract: Relationships between components in an application and the services they provide are identified, including redundant caller-callee sequences. Specific components of interest are instrumented to obtain data when they execute. Data structures are created which identify the components and their dependencies on one other. To avoid excessive overhead costs, redundant dependencies are identified. A dependency data structure can be provided for each unique dependency. When repeated instances of a dependency are detected, the associated dependency data structure can be augmented with correlation data of the repeated instances, such as transaction identifiers and sequence identifiers. Sequence identifiers identify an order in which a component is called. A flag can be used to force the creation of a new dependency data structure, and a calling component's name can be used instead of a sequence identifier. Agents report the dependency data structures to a manager to provide graph data in a user interface.

Abstract: In a conformable lap and related method for finishing ophthalmic lens surfaces, a rigid base surface of the lap defines a nominal ophthalmic lens curvature corresponding to a predetermined range of curvatures. A work surface of the lap is defined by a thin, hard, polymeric material extending adjacent to the base surface for contacting a selected ophthalmic lens surface and conforming to the curvature of the selected surface. A selectively conformable substance consisting of a mixture of thermoplastic and metallic particles forms a layer extending between the rigid base surface and the work surface, and is selectively changeable between solid and non-solid forms.

Abstract: In a conformable lap and related method for finishing ophthalmic lens surfaces, a rigid base surface of the lap defines a nominal ophthalmic lens curvature corresponding to a predetermined range of curvatures. A work surface of the lap is defined by a thin, hard, polymeric material extending adjacent to the base surface for contacting a selected ophthalmic lens surface and conforming to the curvature of the selected surface. A selectively conformable substance consisting of a mixture of thermoplastic and metallic particles forms a layer extending between the rigid base surface and the work surface, and is selectively changeable between solid and non-solid forms.