## 4 Results and Discussion  
In the study, task components of excavators and algorithms were specifically designed for different types of excavator and dump truck earthwork operations. They were implemented within a web-based evaluation program. This program was integrated with an automated control system to validate its applicability in real-world scenarios. An earthwork site was selected as the testing environment for evaluating the developed system. The experiments were conducted across three separate sessions: in August, September, and November of 2023 (Figure 8). Utilizing CAD software, a task plan was devised for each testing phase, with a particular focus on tasks like point and trench excavation, typical in large-scale earthwork endeavors. These designs were then exported in JSON format, serving as the standardized data interchange format to seamlessly convey information to the integrated control system and subsequently to the excavator's control system. The results vividly illustrate the precise execution of excavation tasks in accordance with predefined parameters of location and depth, meticulously outlined in the work plans. This study's findings underscore the efficacy of developed algorithms and the seamless integration capabilities of the system in faithfully replicating planned tasks within a controlled test environment. In the study, representations of point and trench excavation tasks are provided in accompanying figures (Table 5 (a1), (a2)), where excavation sectors are represented by an array of yellow boxes, and the designated loading positions for the dump truck are indicated by a blue box. These graphical representations assist in providing a clear visual distinction between the different types of excavation tasks. Additionally, the empirical outcomes, as demonstrated in Table 5 (b1), (b2), show that the actual outputs for each task are consistent in both shape and size, confirming the precision and reliability of the excavation process as executed per the task plan (Table 5 (c1), (c2)). This unwavering consistency underscores the efficacy of the methodologies deployed in achieving precise excavation specifications. The experimental outcomes of this study should be considered within the context of its specific limitations, particularly the selection of a simplified earthwork site for testing. This environment lacked common real-world complexities such as obstructions or varied topography, which are typical in standard construction sites. This simplification might restrict the applicability of the findings, as the actual performance of these excavation techniques in conventional settings has not been examined. While using a simplified site can help in systematically assessing system capabilities and making initial evaluations, it does not fully replicate the diverse challenges present in normal earthwork operations, which could lead to a gap between anticipated and actual performance in varied operational contexts. Moreover, the system's dependence on manually inputted designs for site boundaries and specific excavation areas introduces a significant element of human intervention. This requirement for manual data input of CAD designs could hinder the system's flexibility and scalability, as each change in project scope or site layout necessitates new inputs and assessments. Although the demonstrated precision of task execution is impressive, the overall effectiveness of these operations heavily relies on the accuracy of the initial design inputs. Mistakes or inaccuracies during this stage can cause errors in the final excavation, leading to cost overruns in earthwork. The integration of dump truck operations within this system also shows a limitation in automation scope, particularly in the manual specification of loading areas. This aspect suggests partial automation where critical elements like the dynamic positioning of dump trucks still require manual intervention, which could lead to operational inefficiencies in practice.