{"id":"https://openalex.org/W4293094966","doi":"https://doi.org/10.1109/aim52237.2022.9863337","title":"Semi-Autonomous Bulldozer Blade Control Using Real-Time Terrain Mapping","display_name":"Semi-Autonomous Bulldozer Blade Control Using Real-Time Terrain Mapping","publication_year":2022,"publication_date":"2022-07-11","ids":{"openalex":"https://openalex.org/W4293094966","doi":"https://doi.org/10.1109/aim52237.2022.9863337"},"language":"en","primary_location":{"id":"doi:10.1109/aim52237.2022.9863337","is_oa":false,"landing_page_url":"https://doi.org/10.1109/aim52237.2022.9863337","pdf_url":null,"source":{"id":"https://openalex.org/S4363608109","display_name":"2022 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM)","raw_type":"proceedings-article"},"type":"conference-paper","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5062951118","display_name":"Teemu Mononen","orcid":"https://orcid.org/0000-0003-4304-1526"},"institutions":[{"id":"https://openalex.org/I166825849","display_name":"Tampere University","ror":"https://ror.org/033003e23","country_code":"FI","type":"education","lineage":["https://openalex.org/I166825849"]},{"id":"https://openalex.org/I4210133110","display_name":"Tampere University","ror":null,"country_code":"FI","type":null,"lineage":["https://openalex.org/I4210133110"]}],"countries":["FI"],"is_corresponding":false,"raw_author_name":"Teemu Mononen","raw_affiliation_strings":["Natural Sciences of Tampere University,Faculty of Engineering,Tampere,Finland","Faculty of Engineering, Natural Sciences of Tampere University, Tampere, Finland"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Natural Sciences of Tampere University,Faculty of Engineering,Tampere,Finland","institution_ids":["https://openalex.org/I4210133110"]},{"raw_affiliation_string":"Faculty of Engineering, Natural Sciences of Tampere University, Tampere, Finland","institution_ids":["https://openalex.org/I166825849"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5088637566","display_name":"Antti Kolu","orcid":"https://orcid.org/0000-0003-2448-9499"},"institutions":[{"id":"https://openalex.org/I4210133110","display_name":"Tampere University","ror":null,"country_code":"FI","type":null,"lineage":["https://openalex.org/I4210133110"]}],"countries":["FI"],"is_corresponding":false,"raw_author_name":"Antti Kolu","raw_affiliation_strings":["Novatron Oy,Tampere,Finland","Novatron Oy, Tampere, Finland"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Novatron Oy,Tampere,Finland","institution_ids":["https://openalex.org/I4210133110"]},{"raw_affiliation_string":"Novatron Oy, Tampere, Finland","institution_ids":[]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5070792821","display_name":"Jouni Mattila","orcid":"https://orcid.org/0000-0003-1799-4323"},"institutions":[{"id":"https://openalex.org/I166825849","display_name":"Tampere University","ror":"https://ror.org/033003e23","country_code":"FI","type":"education","lineage":["https://openalex.org/I166825849"]},{"id":"https://openalex.org/I4210133110","display_name":"Tampere University","ror":null,"country_code":"FI","type":null,"lineage":["https://openalex.org/I4210133110"]}],"countries":["FI"],"is_corresponding":false,"raw_author_name":"Jouni Mattila","raw_affiliation_strings":["Natural Sciences of Tampere University,Faculty of Engineering,Tampere,Finland","Faculty of Engineering, Natural Sciences of Tampere University, Tampere, Finland"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Natural Sciences of Tampere University,Faculty of Engineering,Tampere,Finland","institution_ids":["https://openalex.org/I4210133110"]},{"raw_affiliation_string":"Faculty of Engineering, Natural Sciences of Tampere University, Tampere, Finland","institution_ids":["https://openalex.org/I166825849"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.8157,"has_fulltext":false,"cited_by_count":3,"citation_normalized_percentile":{"value":0.66744947,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":91,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"775","last_page":"782"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11978","display_name":"Soil Mechanics and Vehicle Dynamics","score":0.9990000128746033,"subfield":{"id":"https://openalex.org/subfields/2205","display_name":"Civil and Structural Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T11978","display_name":"Soil Mechanics and Vehicle Dynamics","score":0.9990000128746033,"subfield":{"id":"https://openalex.org/subfields/2205","display_name":"Civil and Structural Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9883999824523926,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11372","display_name":"Hydraulic and Pneumatic Systems","score":0.98089998960495,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/terrain","display_name":"Terrain","score":0.8053942918777466},{"id":"https://openalex.org/keywords/elevation","display_name":"Elevation (ballistics)","score":0.6799556016921997},{"id":"https://openalex.org/keywords/blade","display_name":"Blade (archaeology)","score":0.5257076621055603},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5164108872413635},{"id":"https://openalex.org/keywords/marine-engineering","display_name":"Marine engineering","score":0.43124592304229736},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.35444051027297974},{"id":"https://openalex.org/keywords/geology","display_name":"Geology","score":0.350253164768219},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2902074456214905},{"id":"https://openalex.org/keywords/structural-engineering","display_name":"Structural engineering","score":0.2294445037841797}],"concepts":[{"id":"https://openalex.org/C161840515","wikidata":"https://www.wikidata.org/wiki/Q186131","display_name":"Terrain","level":2,"score":0.8053942918777466},{"id":"https://openalex.org/C37054046","wikidata":"https://www.wikidata.org/wiki/Q641888","display_name":"Elevation (ballistics)","level":2,"score":0.6799556016921997},{"id":"https://openalex.org/C2776132848","wikidata":"https://www.wikidata.org/wiki/Q3045036","display_name":"Blade (archaeology)","level":2,"score":0.5257076621055603},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5164108872413635},{"id":"https://openalex.org/C199104240","wikidata":"https://www.wikidata.org/wiki/Q118291","display_name":"Marine engineering","level":1,"score":0.43124592304229736},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.35444051027297974},{"id":"https://openalex.org/C127313418","wikidata":"https://www.wikidata.org/wiki/Q1069","display_name":"Geology","level":0,"score":0.350253164768219},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2902074456214905},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.2294445037841797},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C18903297","wikidata":"https://www.wikidata.org/wiki/Q7150","display_name":"Ecology","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/aim52237.2022.9863337","is_oa":false,"landing_page_url":"https://doi.org/10.1109/aim52237.2022.9863337","pdf_url":null,"source":{"id":"https://openalex.org/S4363608109","display_name":"2022 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM)","raw_type":"proceedings-article"},{"id":"pmh:oai:trepo.tuni.fi:10024/223054","is_oa":false,"landing_page_url":"https://trepo.tuni.fi/handle/10024/223054","pdf_url":null,"source":{"id":"https://openalex.org/S4306401860","display_name":"Tampere University Institutional Repository (Tampere University)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I150589677","host_organization_name":"Tampere University of Applied Sciences","host_organization_lineage":["https://openalex.org/I150589677"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"conference"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Sustainable cities and communities","id":"https://metadata.un.org/sdg/11","score":0.4000000059604645}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":21,"referenced_works":["https://openalex.org/W2039486678","https://openalex.org/W2048312361","https://openalex.org/W2054002439","https://openalex.org/W2056154632","https://openalex.org/W2075429750","https://openalex.org/W2137303024","https://openalex.org/W2142357626","https://openalex.org/W2145688489","https://openalex.org/W2160626949","https://openalex.org/W2461270422","https://openalex.org/W2763880511","https://openalex.org/W2794685791","https://openalex.org/W2891551809","https://openalex.org/W2909818000","https://openalex.org/W2952691404","https://openalex.org/W2961243073","https://openalex.org/W3027261119","https://openalex.org/W3029776688","https://openalex.org/W3094545473","https://openalex.org/W4200610450","https://openalex.org/W6681064992"],"related_works":["https://openalex.org/W4403053041","https://openalex.org/W4399671601","https://openalex.org/W2335255251","https://openalex.org/W1992962589","https://openalex.org/W2505833876","https://openalex.org/W2281168849","https://openalex.org/W2320248591","https://openalex.org/W3032871857","https://openalex.org/W2620727467","https://openalex.org/W4386906247"],"abstract_inverted_index":{"This":[0,121],"paper":[1],"considers":[2],"semi-autonomous":[3],"excavation":[4],"done":[5],"by":[6,79],"heavy-duty":[7],"bulldozers":[8],"with":[9,173],"an":[10,89,94,183],"onboard":[11,90],"front-mounted":[12],"blade.":[13],"The":[14,149],"goal":[15],"is":[16,59,129,154],"to":[17,24,92,140,159,176],"gradually":[18],"manipulate":[19],"the":[20,26,33,39,44,47,50,54,57,64,70,84,98,104,108,118,134,138,142,166,187,190,193],"blade":[21,58,125,143,161],"digging":[22],"depth":[23],"maximize":[25],"amount":[27],"of":[28,97,192],"excavated":[29],"soil":[30],"while":[31,63],"considering":[32],"approaching":[34],"terrain":[35,80,119],"shape,":[36],"traction,":[37],"and":[38,56,186],"mobile":[40,71,167],"base":[41,168],"inclination.":[42,169],"With":[43],"proposed":[45,194],"system,":[46],"operator":[48,65],"provides":[49,122],"target":[51],"load":[52,76,136],"on":[53,68,133,137],"machine":[55,105,139],"controlled":[60],"semi-":[61],"autonomously,":[62],"can":[66],"focus":[67],"driving":[69],"base.":[72],"To":[73],"reduce":[74],"large":[75,146],"variations":[77],"caused":[78],"shape":[81],"irregularities":[82],"affecting":[83],"blade,":[85],"our":[86],"system":[87],"uses":[88],"lidar":[91],"generate":[93,112],"elevation":[95,126,152],"map":[96],"terrain,":[99],"updating":[100],"it":[101],"online":[102,131],"as":[103,156,182],"moves.":[106],"From":[107],"discrete":[109],"map,":[110],"we":[111],"a":[113,123,157,160],"well-":[114],"behaved":[115],"function":[116],"describing":[117],"shape.":[120],"nominal":[124],"path":[127],"that":[128,164],"modified":[130],"based":[132],"measured":[135],"maneuver":[141],"gradually,":[144],"avoiding":[145],"gradient":[147],"changes.":[148],"resulting":[150],"Cartesian":[151],"profile":[153],"used":[155,181],"reference":[158],"position":[162],"controller":[163],"counteracts":[165],"A":[170],"commercial":[171],"bulldozer":[172],"no":[174],"modifications":[175],"its":[177],"original":[178],"hydraulics":[179],"was":[180],"experimental":[184],"platform,":[185],"results":[188],"verify":[189],"efficacy":[191],"methods":[195],"in":[196],"challenging":[197],"outdoor":[198],"conditions.":[199]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":1}],"updated_date":"2026-08-12T21:12:35.861297","created_date":"2025-10-10T00:00:00"}
