#$%^&*AU2017202645A120181011.pdf#####Abstract A turplaner is described comprising a rotational elongated cutter comprising a first side and a second side and a lift mechanism capable of independently altering a cut height of the first side of the rotational cutter and the second side of said rotational cutter based on a deviation between cut height and a desired cut profile. A hierarchical controller is in functional communication with the lift mechanism wherein the lift mechanism alters the cut height based on the deviation of cut height relative to the desired cut profile in response to the functional communication. The hierarchical controller comprises a laser guidance system comprising a planer laser beam, extending over the area, and at least one laser receiver on at least one of the first side or the second side wherein the laser receiver is a laser height above the cut height and in functional communication with the hierarchical controller. The laser receiver is capable of receiving the planer laser beam and the hierarchical controller is capable of determining and minimizing a deviation between the cut height and the desired cut profile based on the laser receiver location relative to the planer laser beam. At least one autograde device is in functional communication with said hierarchical controller. An autodepth device is in functional communication with the hierarchical controller wherein the autodepth device comprises a mechanism for measuring a cut depth in the area. The hierarchical controller communicates a height adjustment based on the autodepth device if a cut depth exceeds a predetermined depth limit, the autograde if the laser receiver is not within a predetermined range and otherwise the laser receiver. 27'72 62 9 32 55 94 55 116 90 78 58 357 46 893 21 500 50 125 49 48 o115 G43 42 2 82 FIG. 2
