Abstract: A control system for a backhoe apparatus is disclosed. Backhoe apparatus control system includes a kinematic optimal control including the augmentation of additional tasks that can be formulated into the optimal control problem. Further, the control system may include a dynamic adaptive control that accounts for the backhoe linkage dynamics. Still further, the control system is configured to control the flow of hydraulic fluid into and out of the hydraulic actuators.

Abstract: An apparatus and method for modeling dynamic effects on a gyroscope. The dynamic effects are represented by a dynamic effects function. The gyroscope is placed in an oven. A test controller, coupled to the oven, controls the oven to modify the temperature of the gyroscope according to a predetermined temperature function, measures an actual temperature value of the test oven and a gyroscope drift value at predetermined time intervals during the predetermined temperature function, and calculates coefficients of the dynamic effects function as a function of the actual temperature and gyroscope drift values at the predetermined time intervals.

Abstract: The present invention is an apparatus and method to control the steering of a tracked machine having a clutch/brake steering system. The tracked machine has a left drive and a right drive. The left drive has a clutch and brake and the right drive has a clutch and brake. The present invention includes a navigator to determine a desired trajectory, determine a desired left drive velocity and a desired right drive velocity, and generate desired left and right drive velocity signals. The present invention also includes a left speed sensor and a right speed sensor to determine actual left and right drive velocities, and generate actual left and right drive velocity signals. A clutch/brake controller is included to receive the desired left and right drive velocity signals and the actual left and right drive velocity signals, and control at least one of the left and right drive velocities.

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 integrity of an integrated positioning system located on a mobile machine is provided. The integrated positioning system includes a GPS receiver and an inertial navigation unit (INU). The INU includes an odometer, a Doppler radar, a gyroscope, and a sensor for measuring the steering angle of the mobile machine. The method includes the steps of receiving a GPS position estimate from a GPS receiver, receiving an INU position estimate from an inertial navigation unit, and comparing the GPS position estimate and the INU position estimate. If the two position estimates are the same, then the system is VALID. Otherwise, the velocity of the mobile machine as determined by the odometer and velocity as determined by the Doppler radar are compared. If the difference is greater than a first predetermined threshold, then the INU is determined to be INVALID. Otherwise a heading rate from gyroscope is compared with a calculated heading rate based on measured steering angle and velocity.

Abstract: System and method for determining an operating point of a mobile machine. The invention receives GPS information from a GPS and INU information from an inertial navigational unit. A plurality of error states are modeled. The operating point of the mobile machine is determined as a function of the error states and the GPS and INU information.