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The underground architectonic objects are often located at low depth. This is why, in order to protect objects located on the area or minimize the negative impact of works performed on people and the environment, roadheaders are widely applied, with the use of which excavating takes place in a mechanical way. Boom?type roadheaders deserve special attention in the group of roadheaders. A significant feature of the machines is the possibility of building underground objects of any shape and size of cross?section in ...

A starting point for roadheader robotisation (understood as a fully autonomous machine) is to automate the cutting process, which is the basic working process carried out by such machines. In case of boom?type roadheaders, it consists in automatic control of the movement of cutting heads to ensure that the face surface can be worked with optimum process parameters. This will guarantee high drilling efficiency (drilling advancement) and lower energy consumption, reduced dynamic loads and elimination of overloads. T...