\documentclass[10pt]{article}

\usepackage{fullpage}
\usepackage{CJKutf8} 
\usepackage[utf8]{inputenc}
\usepackage{setspace}
\usepackage{parskip}
\usepackage{titlesec}
\usepackage[section]{placeins}
\usepackage{xcolor}
\usepackage{breakcites}
\usepackage{lineno}
\usepackage{hyphenat}





\PassOptionsToPackage{hyphens}{url}
\usepackage[colorlinks = true,
            linkcolor = blue,
            urlcolor  = blue,
            citecolor = blue,
            anchorcolor = blue]{hyperref}
\usepackage{etoolbox}
\makeatletter
\patchcmd\@combinedblfloats{\box\@outputbox}{\unvbox\@outputbox}{}{%
  \errmessage{\noexpand\@combinedblfloats could not be patched}%
}%
\makeatother


\usepackage{natbib}




\renewenvironment{abstract}
  {{\bfseries\noindent{\abstractname}\par\nobreak}\footnotesize}
  {\bigskip}

\titlespacing{\section}{0pt}{*3}{*1}
\titlespacing{\subsection}{0pt}{*2}{*0.5}
\titlespacing{\subsubsection}{0pt}{*1.5}{0pt}


\usepackage{authblk}


\usepackage{graphicx}
\usepackage[space]{grffile}
\usepackage{latexsym}
\usepackage{textcomp}
\usepackage{longtable}
\usepackage{tabulary}
\usepackage{booktabs,array,multirow}
\usepackage{amsfonts,amsmath,amssymb}
\providecommand\citet{\cite}
\providecommand\citep{\cite}
\providecommand\citealt{\cite}
% You can conditionalize code for latexml or normal latex using this.
\newif\iflatexml\latexmlfalse
\providecommand{\tightlist}{\setlength{\itemsep}{0pt}\setlength{\parskip}{0pt}}%

\AtBeginDocument{\DeclareGraphicsExtensions{.pdf,.PDF,.eps,.EPS,.png,.PNG,.tif,.TIF,.jpg,.JPG,.jpeg,.JPEG}}

\usepackage[utf8]{inputenc}
\usepackage[english]{babel}



\usepackage{float}








\begin{document}
\begin{CJK}{UTF8}{gbsn}

\title{A Human Decision Making Model for Bulldozer 3D Blade Control}



\author[1]{Samuel R. Dekhterman}%
\author[1]{Marius Juston}%
\author[1]{William R Norris}%
\author[1]{Dustin Nottage}%
\author[1]{Ahmet Soylemezoglu}%
\affil[1]{Affiliation not available}%


\vspace{-1em}



  
  \date{April 25, 2026}


\begingroup
\let\center\flushleft
\let\endcenter\endflushleft
\maketitle
\endgroup





\selectlanguage{english}
\begin{abstract}
This paper derives a set of bulldozer dynamics to test a
three-dimensional (3D) blade controller. This work was motivated by a
desire to mimic how a human operator would control a bulldozer blade to
build an autonomous system control module and by the lack of existing
work on 3D bulldozer blade control. To that end, three-dimensional
surface-to-track and surface-to-blade dynamics were derived to test the
proposed 3D bulldozer blade controller in simulation. The track dynamics
included considerations for track slip, while the blade dynamics
accounted for non-symmetric mounds in front of the blade. The 3D
bulldozer blade control effort was implemented using fuzzy logic to
mimic a human operator's nonlinear modes of blade control, thereby
following a Human Decision Making Model (HDMM). The inputs to the main
portion of the control effort were the yaw, pitch, and roll errors
between the blade's current orientation and the desired orientation.
Accordingly, the outputs were the blade's yaw, pitch, and roll
velocities. The pitch error, in particular, was tied to a separate fuzzy
controller that outputted the desired cutting depth depending on the
observed soil type, against tying back to the HDMM.%
\end{abstract}%



\sloppy




\selectlanguage{english}
\FloatBarrier
\end{CJK}\end{document}

