Digging Trajectory Optimization for Cable Shovel Robotic Excavation Based on a Multi-Objective Genetic Algorithm
Bibliographic record
Abstract
As one of the most essential earth-moving equipment, cable shovels significantly influence the efficiency and economy in the open-pit mining industry. The optimal digging trajectory planning for each cycle is the base for achieving effective and energy-saving operation, especially for robotic excavation, in which case, the digging trajectory can be precisely tracked. In this paper, to serve the vision of cable shovel automation, a two-phase multi-objective genetic algorithm was established for optimal digging trajectory planning. To be more specific, the optimization took digging time and energy consumption per payload as objects with the constraints of the limitations of the driving system and geometrical conditions. The WK-55-type cable shovel was applied for the validation of the effectiveness of the multi-objective optimization method for digging trajectories. The digging performance of the WK-55 cable shovel was tested in the Anjialing mining site to establish the constraints. Besides, the digging parameters of the material were selected based on the tested data to make the optimization in line with the condition of the real digging operations. The optimization results for different digging conditions indicate that the digging time decreased from an average of 20 s to 10 s after the first phase optimization, and the energy consumption per payload reduced by 13.28% after the second phase optimization, which validated the effectiveness and adaptivity of the optimization algorithm established in this paper.
Fetched live from OpenAlex and de-inverted. Abstracts are not stored in this database: the inverted indexes are 8.6 GB of the frame’s 9.3 GB of text, and the host has 13 GB free.
How this classification was reachedexpand
Full frame machine prediction
Teacher imitationNot calibrated prevalence, not ground truth. Human validation pending. The Gemma side is a direct model label for every work in the frame, read from the title-only record. The Codex side is a classifier learned from the 10,348 direct Codex labels and calibrated to design-weighted sample rates; fields without enough sample support carry no Codex call. Candidate is the union of the two sides; consensus is their intersection. These outputs are machine_predicted_unvalidated and are not human labels.
Distilled classifier scores by category (both heads)
| Category | Codex | Gemma |
|---|---|---|
| Metaresearch | 0.000 | 0.001 |
| Meta-epidemiology (narrow) | 0.001 | 0.000 |
| Meta-epidemiology (broad) | 0.001 | 0.001 |
| Bibliometrics | 0.001 | 0.000 |
| Science and technology studies | 0.000 | 0.000 |
| Scholarly communication | 0.001 | 0.000 |
| Open science | 0.001 | 0.000 |
| Research integrity | 0.001 | 0.000 |
| Insufficient payload (model declined to judge) | 0.001 | 0.000 |
Machine scores (provisional)
The two teacher heads of the student model, read on this work. A score orders the frame for review; it never asserts a category, and the validation status ships verbatim with every row.
Baseline scores from an immature model (maturity gate not passed, 7 training rounds). Scores rank; they never assert a category.
score_only:v0-immature-baseline · verbatim from the scoring run: score_only means the number may rank works, and no category label ships from itClassification
machine, unvalidatedMachine predicted; a candidate call from one source (direct Gemma or distilled Codex), not a consensus.
How this classification was reached, model by model and score by score, is at the end of the page under "How this classification was reached".