Caterpillar Inc.

Marilyn Worley

Matthew James Beschorner

Justin Douglas Speichinger

Keith Daniel Hogan

Controlling machine pose using sensor fusion includes receiving from each of a plurality of Inertial Measurement Units mounted on different components, a time series of signals indicative of acceleration and angular rate of motion for each of the components of the machine, and from at least one non-IMU sensor, a signal indicative of at least one of position, velocity, or acceleration of at least one of the components, a position, velocity, or acceleration of any potential obstacles or other features, or an operator input. The signals are fused with a separate Kalman filter module to estimate an output joint angle. Estimated and measured values of the output joint angle in successive timesteps are combined, a kinematic equation is solved to determine a real time value for at least one of position, velocity, and acceleration of the component at successive timesteps, and the determined real time value is applied in an implementation of a controlled operational movement of the machine component in a successive time step.

System and method for controlling machine pose using sensor fusion

A reductant delivery system for an engine system. The engine system includes an engine having an exhaust conduit and a turbocharger with a compressor. The reductant delivery system having an injector, a storage system, a sensor and a controller. The injector is configured to inject a reductant into the exhaust conduit. The storage system stores the reductant and is configured to receive pressurized air from the compressor. The sensor is configured to determine a pressure of the pressurized air in the storage system. The controller is in communication with the sensor and is configured to increase a power output of the engine in response to the pressure being below a desired pressure.

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East Peoria, IL, United States of America

Marilyn Worley