Abstract: In a motor grader, a total drawbar position may be determined based on signals from various sensors on a drawbar-circle-moldboard (DCM) assembly. The sensors can include rotational sensors for one or both lift arm angles, and one or both yoke primary angles in combination with sensors detecting lengths of the lift cylinders. The sensor information may be used to calculate roll, pitch and yaw angles of the drawbar relative to a frame of the motor grader.

Abstract: A scanning optical range finder in a mobile robot includes an optical emitter circuit, a non-imaging optical element, an optical detector circuit, and a ranging circuit. The non-imaging optical element is arranged to receive optical signals at an entrance aperture thereof responsive to operation of the optical emitter circuit, and to direct the optical signals to an output aperture thereof. The optical detector circuit is configured to receive the optical signals from the output aperture of the non-imaging optical element, and to generate detection signals based on respective phase differences of the optical signals relative to corresponding outputs of the optical emitter circuit. The ranging circuit is configured to calculate a range of a target from the phase differences indicated by the detection signals. Related devices and methods of operation are also discussed.

Abstract: A work tool recognition system for a work tool coupled to a machine is provided. The system includes an image capturing assembly configured to capture an image feed of the work tool. A controller is communicably coupled to the image capturing assembly. The controller receives the image feed of the work tool from the image capturing assembly. The controller extracts a plurality of features of the work tool from the image feed. The controller classifies the extracted image and determine a confidence value. The controller estimates a size of the work tool. The controller estimates a position and an orientation of the work tool. The controller determines verification features of the work tool and compares the image feed of the work tool with a predetermined dataset based on the classification. The controller identifies a type of the work tool based on the comparison.

Abstract: A framework comprises a laser distance meter (LDM), reflector, and excavator comprising a chassis, linkage assembly (LA), boom and stick sensors, implement, and control architecture. The LA comprises a boom and stick defining LA positions. The LDM is configured to generate a DLDM and ?INC between the LDM and the reflector at a node, and the control architecture comprises actuator(s) and a controller programmed to execute at successive LA positions an iterative process (comprises generating ?B, generating ?S, and calculating a height H and a distance D between the node and the LDM based on DLDM and ?INC), build a set of H, D measurements and a corresponding set of ?B, ?S for n LA positions, and execute a linear least squares optimization process based on the H, D set and corresponding set of ?B, ?S to determine and operate the excavator using LB, LS, ?BBias, and ?SBias.

Abstract: An output control system of an agricultural work vehicle includes a controller, a reference indicator communicatively coupled to the controller, and a dial communicatively coupled to the controller. The controller is configured to control power output through an output value range between a minimum output value and a maximum output value based at least in part on a manual input signal, to determine a current setting of the power output, and to adjust the power output from the current setting upon receipt of the manual input signal. The reference indicator is configured to indicate the current setting. Adjustment of an orientation of the dial from an initial position generates the manual input signal.

Abstract: A method for planning and implementation of soil compacting processes using at least one soil compactor resulting in an efficient use of compactors and an improved compacting result. Under the method, a base region (B) to be compacted is defined, the relevant aspects of a soil compacting process are planned, and only then is the process implemented by moving at least compactor in the base region (B), according to the plan. The plan for the soil compacting process may include the quantity and course of compactor passes in the base region.

Abstract: An apparatus and method for finishing or texturing a paved surface including one or more transition curves includes a finishing machine with a transverse frame including a series of flexibly connected frame members and one or more power transition adjusters. As the finishing machine proceeds through the transition curve, the control system and sensors of the finishing machine determine its position and the transverse curvature of the paved surface corresponding to its position. The control system may then adjust the position of accessories mounted to the transverse frame via a combination of raising or lowering the accessories relative to the paved surface and articulating the one or more power transition adjusters to adjust the shape of the transverse frame to conform to the transverse curvature of the paved surface.

Abstract: A system and method for automatically adjusting blade pitch in crawler dozers, motor graders, and other bladed work vehicles includes estimating a current tractive force of the work vehicle utilizing one or more controllers that establish whether the current tractive force of the work vehicle can be reduced by rotating the blade to an optimized pitch angle. A command is transmitted from the one or more controllers to a blade actuation system to rotate the blade to the optimized pitch angle. The method may be performed iteratively to repeatedly adjust the blade pitch to optimized angles as the work vehicle operates and conditions affecting the optimal blade pitch angle vary.

Abstract: A system for externally augmented asset management is disclosed. According to one embodiment, information from a first reporting source about an asset is received. In addition, information from a second reporting source about the asset is also received. Information from a third reporting source about at least one environmental condition is also received. A database is then populated with the information from the first reporting source, the information from the second reporting source and the third reporting source such that information from the first reporting source, the information from the second reporting source and the third reporting source can be collected or accessed from the database.

Abstract: Precision docking is one of the most important tasks for drones and surface robots to charge themselves and load/unload packages. Without accurate docking, surface robots and drones will miss their charging pad or charging contacts and cannot automatically charge themselves for later tasks. Described is a system using coded light to guide the precision docking process for drones and ground robots. More specifically, the system uses projectors to project temporal identifiers for space partitioned by pixel projections. Different space partition gets a different identifier. By using a simple light sensor on a drone or a ground robot, the drone or the ground robot can know its precise location in the space and therefore knows where to move for a precise docking. Depending on docking precision requirement, the coded light precision may be adjusted by using projectors with different resolutions.

Abstract: A fob device includes a portable housing below a size needed to accommodate an input/output component for providing access to a functionality of the fob device that would not otherwise be accessible. The fob device also includes a mobile processor, a wireless interface, a volatile memory, a rechargeable battery, a charging interface, and storage medium having instructions that when executed causes the fob to receive a pairing request from a modular extension device that can provide access to the full functionality of the fob device that would not otherwise be accessible, pair with the modular extension device, and provide interfaces to the modular extension device that are customized based on a form factor of the modular extension device.

Abstract: A control system for a rotary laser receives control information transmitted by a communications terminal via a first repeater coupled to the communications terminal and transmits the control information to a controller via a second repeater disposed on a rotary laser. The controller regulates an operating state of the rotary laser based on the control information. The control system enables the communication terminal to wirelessly control and operating state of the rotary laser via cooperation between the first repeater and the second repeater so as to achieve a remote control and to avoid use of a dedicated remote control alone, reduce the system costs and be carried easily.

Abstract: Methods, systems, and techniques for determining the vertical alignment of an infrastructure corridor having a certain horizontal alignment involve using a processor to model the cost of constructing the infrastructure corridor as a function of cost variables that vary with the vertical alignment of the infrastructure corridor. The processor looks up the cost variables at vertical offsets corresponding to certain vertical alignments of the infrastructure corridor and determines the cost of constructing the length of road at elevations located between pairs of the vertical offsets by interpolating from the cost variables at the vertical offsets; the interpolation may be linear. The processor determines, subject to infrastructure corridor design constraints, the vertical alignment of the infrastructure corridor from the cost of constructing the infrastructure corridor at the vertical offsets.

Abstract: An aggregate spreading system includes a dump truck that has a cab and a bed. The bed may contain an aggregate. A transport unit is coupled to the dump truck. The transport unit is positioned on the bed to urge the aggregate forwardly in the bed. A distribution unit is coupled to the dump truck. The distribution unit is positioned on the bed to receive the aggregate from the transport unit. Thus, the distribution unit distributes the aggregate onto a support surface. The distribution unit levels the aggregate on the support surface when the aggregate has been released onto the support surface.

Abstract: A control system for a machine having a linkage, a work implement mounted on the linkage, and at least one actuator is provided. The actuator is connected to the linkage and controlled using the control system to move the linkage and the work implement. The control system includes sensors that are configured to sense a current load and position of the work implement. Upon sensing the current load and position of the work implement, a controller provided in the control system can reject or accept a given kick-out command issued from one or more user controls of the control system based on various criteria associated with the sensed load and position of the work implement.

Abstract: In a work vehicle, such as a motor grader, having at least one actuator for positioning a component, an operator control system includes at least one controller configured to control the at least one actuator, and a control movable through a range of motion and having at least two detents, at least one located on each side of a neutral position of the control. The at least one controller is configured to control the at least one actuator based on positions of the control as the control is moved through its range of motion, and correlate at least one input signal from the control when at least one of the detents with at least one reference position of the component.

Abstract: A system and method for externally augmented asset management is disclosed. According to one embodiment, information from a first reporting source about an asset is received. In addition, information from a second reporting source about the asset is also received. Information from a third reporting source about at least one environmental condition is also received. A database is then populated with the information from the first reporting source, the information from the second reporting source and the third reporting source such that information from the first reporting source, the information from the second reporting source and the third reporting source can be collected or accessed from the database.

Abstract: A speed measurement system for use with a machine having a component rotationally mounted inside a housing may have a first sensing element configured to be mounted to the housing adjacent the component, and a second sensing element configured to be mounted to the housing. The first sensing element may be configured to generate a first signal indicative of a rotational velocity of the component. The second sensing element may be configured to generate a second signal indicative of a rotational rate of the housing. The speed measurement system may also have a controller in communication with the first and second sensing elements. The controller may be configured to determine a rotational speed of the component relative to an offboard reference based on the first and second signals.

Abstract: A system associated with an implement of a machine is provided. The system includes a plane determination module configured to determine a track plane based on a relationship between at least two tracks of the machine. The system also includes an implement control module. The implement control module is configured to compute a location of two or more blade tip points of the implement of the machine in three dimensional space based on at least one constraint of a geometry of the implement. The implement control module is also configured to determine a blade tip point plane based on a relationship between at least two blade tip points of the implement. The implement control module is further configured to compare the blade tip point plane with the track plane and determine if the blade tip point plane is parallel to the track plane based on the comparison.

Abstract: In a trace generation device including a trace generation determination unit that outputs a command of trace generation, when a difference of an actual load applied to a bucket and a reference load is equal to or larger than a predetermined value during excavation and a candidate trace generation unit that generates a trace in which a work amount is almost constant, after the command is output, the reference load is an estimated load and the command of the trace generation is output when the difference of the actual load and the estimated load is equal to or larger than the predetermined value during the excavation. As a result, working efficiency can be raised while a trace in which an excavation amount is almost constant is generated.

Abstract: Systems and methods for compensating dipper swing control. One method includes, with at least one processor, determining a direction of compensation opposite a current swing direction of the dipper and applying the maximum available swing torque in the direction of compensation when an acceleration of the dipper is greater than a predetermined acceleration value. The method can also include determining a current state of the shovel and performing the above steps when the current state of the shovel is a swing-to-truck state or a return-to-tuck state. When the current state of the shovel is a dig-state, the method can include limiting the maximum available swing torque and allowing, with the at least one processor, swing torque to ramp up to the maximum available swing torque over a predetermined period of time when dipper is retracted to a predetermined crowd position.

Abstract: An excavation system is disclosed for use with a mobile machine having a work tool. The excavation system may have a first sensor configured to generate a first signal indicative of a distance to an inclined face of the pile of material, and a controller in communication with the first sensor. The controller may be configured to determine a repose angle of the pile of material based on a known edge location of the pile of material and the distance.

Abstract: One agricultural system includes a hitch assembly configured to couple an agricultural vehicle with an agricultural implement. The agricultural system also includes a sensor coupled to the hitch assembly and configured to provide a signal indicative of a force applied to the hitch assembly by the agricultural vehicle and/or the agricultural implement. The agricultural system includes control circuitry configured to receive the signal from the sensor, to select a parameter associated with operation of the agricultural vehicle and/or the agricultural implement, based on the signal, to determine if performance of the agricultural vehicle and/or the agricultural implement will be improved by adjusting the parameter, and to control the parameter if performance of the agricultural vehicle and/or the agricultural implement will be improved.

Abstract: A transporter for the transport of a large payload across an uneven ground surface is described. The transporter has a body (4); ground contacting transport means below the body, provided with drive means (1,2) to move the body across a ground surface in use; a payload support module (5) to support a payload above the body in use; and a plurality of elongate extendable elevators (6) each having a first articulated joint (17) with the body at a first end and a second articulated joint (13) with the payload support module at a second end.

Abstract: A method of operating a digging machine, including operationally connecting a sensor to a bucket, operationally connecting an electronic controller to the sensor and to each respective hydraulic cylinder, operationally connecting a valve system to the hydraulic cylinder and to the electronic controller, inputting a desired post excavation landscape contour into the electronic controller, inputting locations of underground objects into the electronic controller, automatically actuating a bucket hydraulic cylinder operationally connected to the bucket, and automatically controlling the bucket hydraulic cylinder to dig within predetermined parameters.

Abstract: A method and system for controlling operation of a tractor and/or agricultural implement towed by the tractor is provided. A vibration sensor is mounted to the agricultural implement to detect the magnitude of vibration, or bounce, on the agricultural implement. Because the magnitude of the vibration is a function of several operating parameters including, but not limited to, the speed at which the tractor is travelling and the downward pressure applied to the agricultural implement, one or more additional sensors are provided to monitor these operating parameters. Each of the sensors generates a feedback signal and transmits it to the controller. The controller is configured to generate a reference signal to control an actuator as a function of the magnitude of vibration and the measured operating parameter. The actuator receiving the reference signal is configured to control operation of the tractor or agricultural implement to reduce the magnitude of vibration.

Abstract: A control device of a wheel loader obtains a first ratio between a value corresponding to a target traveling distance for the wheel loader, when it travels to a discharge position where an excavated substance is discharged after an excavation with a bucket, and a value corresponding to a target elevation amount for an elevation of a boom after a motion is started. The control device also obtains a second ratio between a value corresponding to an actual traveling distance after the wheel loader starts its motion to the position where the excavated substance is discharged after the excavation with the bucket, and a value corresponding to an actual elevation amount of the boom after the motion is started. The control device then controls a transmission toque transmitted to a drive wheel from an engine in order that a difference between the first ratio and the second ratio becomes zero.

Abstract: A work vehicle may comprise a chassis, a ground-engaging blade, a sensor assembly, and a controller. The ground-engaging blade may be movably connected to the chassis via a linkage configured to allow the blade to be tilted relative to the chassis. The sensor assembly may be connected to the work vehicle and configured to provide a tilt signal indicative of an angle of the blade in a roll direction and a roll signal indicative of a rotational velocity of the blade in the roll direction. The controller may be configured to determine a target tilt angle, receive the tilt signal, receive the roll signal, and send a command to tilt the blade toward the target tilt angle, the command based on the tilt signal, the roll signal, and the target tilt angle.

Abstract: A work vehicle includes a vehicle body, a blade supported on the vehicle body, a pair of first hydraulic cylinders for moving the blade upward and downward, a pair of second hydraulic cylinders for tilting the blade forward, backward, leftward, and rightward, a pair of stroke sensors for detecting stroke amounts of the pair of first hydraulic cylinders, and a controller for controlling a position of the blade based on a difference in the stroke amounts of the pair of first hydraulic cylinders when, in a state where one second hydraulic cylinder is at the one stroke end or the other stroke end, the other second hydraulic cylinder is driven from one stroke end to the other stroke end.

Abstract: A control system for a machine is disclosed. The control system may have a first cylinder operatively connected between a first side of a work tool and an undercarriage of the machine, a second cylinder operatively connected between a second side of the work tool and the undercarriage of the machine, and one or more electro-hydraulic valves configured to selectively regulate flow of pressurized fluid to the cylinders. The control system may also have a controller configured to determine a difference between a desired pitch of the work tool and an actual pitch of the work tool, and compare the difference to a threshold value. The controller may also be configured to move the one or more electro-hydraulic valves to change the flow of pressurized fluid to at least one of the first and second cylinders to adjust the actual pitch of the work tool to the desired pitch, based on the comparison.

Abstract: An excavation apparatus is disclosed. The excavation apparatus includes a chassis having a length that extends from a front end to a rear end of the chassis. The chassis also has a width oriented perpendicular to the length. A boom is pivotally attached to the rear end of the chassis. A cutting component mounted to the boom. A shroud structure at least partially covers the cutting component. A source of vacuum is in fluid communication with an interior of the shroud structure for drawing air containing dust from the interior of the shroud structure. A filter filters the air drawn from the interior of the shroud structure by the source of vacuum. A dust barrier projects downwardly from the shroud structure and extends along at least a portion of a perimeter of the shroud structure.

Abstract: Machine control systems for controlling a land levelling or earthmoving process of a wheel loader relative to a working plane are disclosed. In some embodiments, the wheel loader may be equipped with a land levelling or earthmoving blade and may comprise tool positioning means for adjusting the position and orientation of the tool relative to the first body. In some embodiments, the machine control system comprises a machine control unit and an orientation detection system. In some embodiments, the orientation detection system may include orientation detection means which are designed to be attached to the blade and/or to the wheel loader for detecting a position and an orientation of the blade relative to a working plane. In some embodiments, the orientation detection means are adapted to generate orientation data according to the relative position and orientation of the blade and to transmit the orientation data to the machine control unit.

Abstract: An armrest for use by a pilot while operating a side stick inceptor has on its underside a number of secondary controls which can be operated when the side stick is not being used, the armrest then acting as a handgrip enabling the pilot to operate the secondary controls with a steady hand.

Abstract: The present invention relates to an automatic grading system for a construction machine, including: a work apparatus having a boom connected pivotally to one side of a vehicle body, an arm connected pivotally to a front end portion of the boom, and a bucket connected pivotally to a front end portion of the arm; a boom angle detection sensor mounted on one side of the boom; an arm angle detection sensor mounted on one side of the arm; a switch panel on which a standard grading mode switch, a grading history storage switch, and a history grading mode switch selected for a grading work are disposed; an electronic control unit adapted to receive grade input signals applied from the angle detection sensors at the time when the grading mode switches and a joystick for controlling the work apparatus are manipulated and to calculate the grade input signals in accordance with a predetermined control algorithm.

Abstract: An aerator with active turf calibration of a ground sensor that provides signals to a controller relating to changes in slope of a ground surface. The controller adjusts the position of a coring head based on signals from the ground sensor. The controller determines an offset from a neutral position of the ground sensor based on signals from the ground sensor on a flat surface during aeration compared to the neutral position of the ground sensor on a flat surface from static calibration.

Abstract: A system and method for displaying data associated with an embedded system is provided that may include a vehicle data bus, an electronic control unit, and a display unit. The display unit may be configured to render a graphical user interface for the electronic control unit. Data may be exchanged between the electronic control unit and the display unit via the vehicle data bus in partial compliance with a virtual terminal protocol, where full compliance with the virtual terminal protocol requires that the graphical user interface rendered by the display unit be defined and controlled by the electronic control unit. Contrary to the requirement of full compliance with the virtual terminal protocol, the graphical user interface in the display unit may be defined and controlled by the display unit.

Abstract: The present invention includes an information generator to set a lever manipulation amount total sum decrease flag during a period when a lever manipulation amount total sum is decreasing, a first processor to process an engine actual output, an engine actual output latching function block to output the maximum value of the engine actual output until the present during a period in which a lever manipulation amount total sum decrease flag is not set, and output the present engine actual output during a period in which the flag is set, a second processor to output an engine target output based on the engine output, and a controller to control the engine speed under limitation of the engine target output.

Abstract: A tandem system having multiple fluid powered cylinders for operation of motor graders and other earth-moving equipment that is capable of interfacing with and being controlled by conventional two dimensional (“2-D”) and three dimensional (“3-D”) grade control systems, responds to encountered grade changes and adjusts elevation and a cross-slope to match predetermined project design specifications. Each cylinder member has at least one master area and at least one slave area.

Abstract: Novel tools and techniques for controlling heavy equipment vehicles, such as tractors, graders, road-forming machines, and the like. Some techniques allow a control system of a heavy equipment vehicle to transition from receiving position data from one positioning device to receiving data from another without ceasing operation and/or while limiting any resulting discontinuity in a manipulated ground surface to within acceptable tolerances.

Abstract: A relative navigation system and methods of intrusion detection for such a relative navigation system where the method includes repeatedly projecting from a grid generator a set of lines defining a grid into three dimensional space to define a field bounded by the grid and encoded with grid data configured to identify predetermined points on the grid and determining a presence of an intruding object within the field.

Abstract: A snow removal machine including a travel unit frame having travel units, and an auger housing liftable, lowerable and rollable relative to the travel unit frame. The machine also includes: a frame inclination angle detection section for detecting an inclination angle of the travel frame relative to a ground surface; a housing inclination angle detection section for detecting an inclination angle of the auger housing relative to the travel unit frame; and an overall inclination angle evaluation section for evaluating an overall inclination angle of the auger housing relative to the ground surface on the basis of the inclination angles detected by the two detection sections. The two detection sections are provided on a part of the machine which does not make rolling motion together with the auger housing.

Abstract: An apparatus includes a link receiver having a detector array configured to receive radiation from a remote communication device, where the detector array includes multiple detectors. Each detector includes a horn receiver configured to capture the radiation using an antenna positioned in or proximate to a throat of the horn receiver, where the antenna is coupled to an antenna load. Each detector also includes a bolometer electrically isolated from the antenna load and in thermal contact with the antenna load. The link receiver could include a terahertz camera. The detector array can be located at a focal plane of an optical system configured to receive the radiation through a specified far-field solid angle. The apparatus could also include a link transmitter configured to generate and transmit second radiation to the remote communication device and/or a communication transmitter/receiver configured to communicate with the remote communication device.

Abstract: A system for setting an end location of a path of operation of a machine at a work site includes a position sensor configured to determine a position of a path at the work site and a controller. The controller is configured to determine a position of a first path and a position of a second path, the first path and the second path defining a pair of paths on opposite sides of the path of operation and determine a physical characteristic of the pair of paths based upon the position of the first path and the position of the second path. The controller is further configured to determine whether the physical characteristic of the pair of paths is less than a threshold characteristic and set the end location of the path of operation if the physical characteristic of the pair of paths is less than the threshold characteristic.

Abstract: A remotely controlled vehicle that can carry a laser detector or other survey equipment that can be wirelessly controlled from a piece of heavy equipment. A particular embodiment can be used to dig out level basements to a predetermined grade by placing a laser emitter on a support on the floor of the dig and maneuvering the remotely controlled vehicle carrying a laser detector from the cab of the digging equipment so that an entire basement dig can be dug out accurately level by a single person.

Abstract: An implement having an implement acceleration is operably coupled to a vehicle body having a body acceleration. An attitude of the implement is estimated by receiving acceleration measurements from an accelerometer mounted on the vehicle body and an accelerometer mounted on the implement. A state vector estimate is calculated based at least in part on the body acceleration measurement and the implement acceleration measurement. The state vector estimate includes a representation of the attitude of the implement relative to the vehicle body. In addition to the accelerometer measurements, angular velocity measurements can be received from a gyro mounted on the vehicle body and a gyro mounted on the implement. The state vector estimate is then calculated based at least in part on the body acceleration measurement, the implement acceleration measurement, the body angular velocity measurement, and the implement angular velocity measurement.

Abstract: Novel tools and techniques for controlling road-forming machines, such as paving machines, graders, and the like. Some techniques allow a control system of a road-forming machine to transition from receiving position data from one positioning device to receiving data from another without ceasing operation and/or while limiting any resulting discontinuity in the formed road surface to within acceptable tolerances.

Abstract: The invention comprises a new and improved apparatus, system and method for leveling asphalt in road construction that may include at least one laser pointer, at least one alignment target, and at least one visual reference guide attached to a paving machine screed where it is contemplated to project a beam generally parallel with the existing surface to be matched by the newly laid asphalt such that the screed may be adjusted by the beam hitting the screed and the screed moved up and or down accordingly to keep in line with the laser beam that is already positioned in a desired parallel manner.

Abstract: A six-stroke cycle engine includes an intake passage including a throttle valve, and an exhaust passage including a catalyst. The six-stroke cycle engine includes a scavenging passage including a first end defined by a scavenging port and a second other end connected to the intake passage upstream of the throttle valve. The six-stroke cycle engine includes an intake valve, an exhaust valve, a scavenging valve, and a valve gear configured to operate these valves. The valve gear closes the scavenging valve and operates the intake valve and the exhaust valve so as to execute an intake stroke, a compression stroke, an expansion stroke, and an exhaust stroke, in this order. The valve gear also operates only the scavenging valve so as to execute a scavenging intake stroke and a scavenging exhaust stroke, in this order, following the exhaust stroke.

Abstract: A ramp assembly for providing a transition surface between a vehicle floor and an alighting surface is disclosed. The ramp assembly includes a ramp portion that is rotatable between a stowed position and a deployed position. A target operably associated with the ramp portion so that the target reciprocates along a predetermined path when the ramp portion reciprocates between the stowed position and the deployed position. A sensor fitting maintains a fixed orientation relative to a horizontal plane. A sensor is mounted to the sensor fitting such that the sensor senses the target when the ramp portion is in a predetermined position.

Abstract: A system for controlling an earthmoving machine is provided. The system includes a positioning system and a controller. The controller is configured to receive the position signals from the positioning system, store the position signals in a pass history, and determine, based on pass history, an actual profile of the work surface. The controller is further configured to determine, based on the actual profile of the work surface in the pass history, existence of a first condition, the first condition exists when the actual profile has a first volume having a height above a threshold for an upper pass, and existence of a second condition, the second condition exists when the actual profile has a valley having a floor lower than the threshold for the upper pass. The controller is configured to direct the earthmoving machine to operate based on the lower pass if the first and second conditions exist.