{"id":"https://openalex.org/W7131424482","doi":"https://doi.org/10.1109/ccwc67433.2026.11393767","title":"Deep Learning Perception for Quarry-Bot: A Lunar Dragline Excavator","display_name":"Deep Learning Perception for Quarry-Bot: A Lunar Dragline Excavator","publication_year":2026,"publication_date":"2026-01-05","ids":{"openalex":"https://openalex.org/W7131424482","doi":"https://doi.org/10.1109/ccwc67433.2026.11393767"},"language":null,"primary_location":{"id":"doi:10.1109/ccwc67433.2026.11393767","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ccwc67433.2026.11393767","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2026 IEEE 16th Annual Computing and Communication Workshop and Conference (CCWC)","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/A5023757967","display_name":"Zahir Abram Castrejon","orcid":null},"institutions":[{"id":"https://openalex.org/I133999245","display_name":"University of Nevada, Las Vegas","ror":"https://ror.org/0406gha72","country_code":"US","type":"education","lineage":["https://openalex.org/I133999245"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Zahir Abram Castrejon","raw_affiliation_strings":["University of Nevada,Department of Mechanical Engineering,Las Vegas"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Nevada,Department of Mechanical Engineering,Las Vegas","institution_ids":["https://openalex.org/I133999245"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5126807017","display_name":"Nathan Kassai","orcid":null},"institutions":[{"id":"https://openalex.org/I133999245","display_name":"University of Nevada, Las Vegas","ror":"https://ror.org/0406gha72","country_code":"US","type":"education","lineage":["https://openalex.org/I133999245"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Nathan Kassai","raw_affiliation_strings":["University of Nevada,Department of Mechanical Engineering,Las Vegas"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Nevada,Department of Mechanical Engineering,Las Vegas","institution_ids":["https://openalex.org/I133999245"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5115055418","display_name":"Francis C. Palustre","orcid":null},"institutions":[{"id":"https://openalex.org/I133999245","display_name":"University of Nevada, Las Vegas","ror":"https://ror.org/0406gha72","country_code":"US","type":"education","lineage":["https://openalex.org/I133999245"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Francis Palustre","raw_affiliation_strings":["University of Nevada,Department of Mechanical Engineering,Las Vegas"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Nevada,Department of Mechanical Engineering,Las Vegas","institution_ids":["https://openalex.org/I133999245"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5069225908","display_name":"S. Kim","orcid":null},"institutions":[{"id":"https://openalex.org/I133999245","display_name":"University of Nevada, Las Vegas","ror":"https://ror.org/0406gha72","country_code":"US","type":"education","lineage":["https://openalex.org/I133999245"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Subin Kim","raw_affiliation_strings":["University of Nevada,Department of Mechanical Engineering,Las Vegas"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Nevada,Department of Mechanical Engineering,Las Vegas","institution_ids":["https://openalex.org/I133999245"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5126794514","display_name":"Paul Oh","orcid":null},"institutions":[{"id":"https://openalex.org/I133999245","display_name":"University of Nevada, Las Vegas","ror":"https://ror.org/0406gha72","country_code":"US","type":"education","lineage":["https://openalex.org/I133999245"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Paul Oh","raw_affiliation_strings":["University of Nevada,Department of Mechanical Engineering,Las Vegas"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Nevada,Department of Mechanical Engineering,Las Vegas","institution_ids":["https://openalex.org/I133999245"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I133999245"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.23448722,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"959","last_page":"965"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11701","display_name":"Space Satellite Systems and Control","score":0.05050000175833702,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace 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/T11701","display_name":"Space Satellite Systems and Control","score":0.05050000175833702,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace 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/T13715","display_name":"Power Line Inspection Robots","score":0.04349999874830246,"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"}},{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.03449999913573265,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/excavator","display_name":"Excavator","score":0.8093000054359436},{"id":"https://openalex.org/keywords/workspace","display_name":"Workspace","score":0.5199000239372253},{"id":"https://openalex.org/keywords/excavation","display_name":"Excavation","score":0.5088000297546387},{"id":"https://openalex.org/keywords/teleoperation","display_name":"Teleoperation","score":0.47530001401901245},{"id":"https://openalex.org/keywords/perception","display_name":"Perception","score":0.421999990940094},{"id":"https://openalex.org/keywords/sandbox","display_name":"Sandbox (software development)","score":0.4034999907016754},{"id":"https://openalex.org/keywords/deep-learning","display_name":"Deep learning","score":0.3711000084877014},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.36000001430511475},{"id":"https://openalex.org/keywords/installation","display_name":"Installation","score":0.35350000858306885}],"concepts":[{"id":"https://openalex.org/C141392084","wikidata":"https://www.wikidata.org/wiki/Q182661","display_name":"Excavator","level":2,"score":0.8093000054359436},{"id":"https://openalex.org/C58581272","wikidata":"https://www.wikidata.org/wiki/Q12741163","display_name":"Workspace","level":3,"score":0.5199000239372253},{"id":"https://openalex.org/C31858485","wikidata":"https://www.wikidata.org/wiki/Q959782","display_name":"Excavation","level":2,"score":0.5088000297546387},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.48669999837875366},{"id":"https://openalex.org/C161759796","wikidata":"https://www.wikidata.org/wiki/Q3982902","display_name":"Teleoperation","level":3,"score":0.47530001401901245},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.47049999237060547},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4311000108718872},{"id":"https://openalex.org/C26760741","wikidata":"https://www.wikidata.org/wiki/Q160402","display_name":"Perception","level":2,"score":0.421999990940094},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.41769999265670776},{"id":"https://openalex.org/C167981075","wikidata":"https://www.wikidata.org/wiki/Q2667186","display_name":"Sandbox (software development)","level":2,"score":0.4034999907016754},{"id":"https://openalex.org/C108583219","wikidata":"https://www.wikidata.org/wiki/Q197536","display_name":"Deep learning","level":2,"score":0.3711000084877014},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.3668999969959259},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.36000001430511475},{"id":"https://openalex.org/C146778888","wikidata":"https://www.wikidata.org/wiki/Q836862","display_name":"Installation","level":2,"score":0.35350000858306885},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.3366999924182892},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.320499986410141},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.31769999861717224},{"id":"https://openalex.org/C6683253","wikidata":"https://www.wikidata.org/wiki/Q7075535","display_name":"Obstacle avoidance","level":4,"score":0.3140000104904175},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.30399999022483826},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.30140000581741333},{"id":"https://openalex.org/C88337583","wikidata":"https://www.wikidata.org/wiki/Q7883433","display_name":"Underactuation","level":3,"score":0.29980000853538513},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.298799991607666},{"id":"https://openalex.org/C18762648","wikidata":"https://www.wikidata.org/wiki/Q42213","display_name":"Work (physics)","level":2,"score":0.29120001196861267},{"id":"https://openalex.org/C186967261","wikidata":"https://www.wikidata.org/wiki/Q5082128","display_name":"Mobile device","level":2,"score":0.2892000079154968},{"id":"https://openalex.org/C196467688","wikidata":"https://www.wikidata.org/wiki/Q1851985","display_name":"Telerobotics","level":4,"score":0.2858000099658966},{"id":"https://openalex.org/C171268870","wikidata":"https://www.wikidata.org/wiki/Q1486676","display_name":"GRASP","level":2,"score":0.2822999954223633},{"id":"https://openalex.org/C2776151529","wikidata":"https://www.wikidata.org/wiki/Q3045304","display_name":"Object detection","level":3,"score":0.26809999346733093},{"id":"https://openalex.org/C107464732","wikidata":"https://www.wikidata.org/wiki/Q235781","display_name":"Adaptive control","level":3,"score":0.25929999351501465},{"id":"https://openalex.org/C17500928","wikidata":"https://www.wikidata.org/wiki/Q959968","display_name":"Control system","level":2,"score":0.2556999921798706},{"id":"https://openalex.org/C115901376","wikidata":"https://www.wikidata.org/wiki/Q184199","display_name":"Automation","level":2,"score":0.25209999084472656},{"id":"https://openalex.org/C161840515","wikidata":"https://www.wikidata.org/wiki/Q186131","display_name":"Terrain","level":2,"score":0.250900000333786},{"id":"https://openalex.org/C145424490","wikidata":"https://www.wikidata.org/wiki/Q618465","display_name":"Remotely operated underwater vehicle","level":4,"score":0.2506999969482422},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.2502000033855438}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/ccwc67433.2026.11393767","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ccwc67433.2026.11393767","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2026 IEEE 16th Annual Computing and Communication Workshop and Conference (CCWC)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":15,"referenced_works":["https://openalex.org/W1567710201","https://openalex.org/W2003360230","https://openalex.org/W2044704890","https://openalex.org/W2108412605","https://openalex.org/W2963037989","https://openalex.org/W3003858288","https://openalex.org/W3120153508","https://openalex.org/W4366259359","https://openalex.org/W4386713326","https://openalex.org/W4396853233","https://openalex.org/W4401018226","https://openalex.org/W4412405016","https://openalex.org/W4413925586","https://openalex.org/W4413926099","https://openalex.org/W4413926179"],"related_works":[],"abstract_inverted_index":{"This":[0],"work":[1,179],"investigates":[2],"the":[3,18,34,117,141,159,182],"use":[4],"of":[5,23,28,41,143],"Quarry-Bot":[6],"for":[7,70,77,153,162,187,192],"automated":[8],"excavation":[9,47,148,194],"tasks":[10,165],"relevant":[11],"to":[12,44,96,145,184],"lunar":[13],"site":[14],"preparation.":[15],"Motivated":[16],"by":[17,150],"NASA":[19],"Artemis":[20],"program's":[21],"objective":[22],"deploying":[24],"robotic":[25],"systems":[26,43],"ahead":[27],"human":[29],"arrival,":[30],"this":[31],"platform":[32],"leverages":[33],"high":[35,120],"payload-to-mass":[36],"ratio":[37],"and":[38,73,90,112,119,136,189],"reconfigurable":[39],"nature":[40],"cable-driven":[42],"perform":[45,146],"repetitive":[46],"operations":[48],"autonomously.":[49],"A":[50],"physical":[51],"prototype":[52],"was":[53,134],"implemented":[54,95,135],"on":[55,195],"a":[56,63,74,91,129],"pergola-based":[57],"sandbox":[58],"test":[59],"rig,":[60],"configured":[61],"as":[62,83],"four":[64],"cablerobot":[65],"equipped":[66],"with":[67,86,166,176],"load":[68],"cells":[69],"tension":[71,88],"sensing,":[72],"RealSense":[75],"D435":[76],"workspace":[78],"mapping.":[79],"Control":[80],"strategies":[81],"such":[82],"Lyapunov-PD":[84],"tracking":[85],"NNLS-based":[87],"allocation":[89],"feedback":[92],"controller":[93],"are":[94],"maintain":[97],"cable":[98],"tensions":[99],"above":[100],"minimum":[101],"allowable":[102],"thresholds.":[103],"Moreover,":[104],"advancements":[105],"in":[106,122,170,174],"deep-learning":[107,167],"computer":[108,168],"vision":[109,169],"enable":[110],"robust":[111],"adaptive":[113],"perception":[114],"capabilities,":[115],"given":[116],"low-lighting":[118],"contrast":[121],"Lunar":[123],"environments.":[124],"Given":[125],"its":[126],"aptitude,":[127],"YOLOv11,":[128],"popular":[130],"object":[131],"detection":[132],"framework,":[133],"tested.":[137],"Experimental":[138],"trials":[139],"validated":[140],"ability":[142],"QuarryBot":[144],"sustained":[147],"sequences":[149],"avoiding":[151],"obstacles":[152],"soil":[154],"removal.":[155],"These":[156],"findings":[157],"establish":[158],"avoidance":[160],"approach":[161],"autonomous":[163],"digging":[164],"inadequate":[171],"lighting":[172],"conditions":[173],"tandem":[175],"LiDAR.":[177],"Future":[178],"will":[180],"extend":[181],"system":[183],"mobile":[185],"bases":[186],"repositioning":[188],"elevating":[190],"anchors":[191],"improved":[193],"uneven":[196],"terrain.":[197]},"counts_by_year":[],"updated_date":"2026-07-29T14:22:42.915294","created_date":"2026-02-26T00:00:00"}