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The efficiency and costs of mining operations greatly depend on the efficient design and use of excavators. The performance of these capital-intensive excavators requires thorough understanding of the physical and design factors that affect the formation-cutting tool interaction process. The current body of knowledge, based on experimental and analytical methods, provides limited understanding of these factors, which limits the accurate design and performance of excavators. The soil constitutive equations used in most of the available finite element (FE) models also fail to adequately capture...